Heuristic-based laser scan matching for outdoor 6d SLAM

Authors:
Andreas Nüchter;Kai Lingemann;Joachim Hertzberg;Hartmut Surmann
Affiliations:
Institute of Computer Science, Knowledge Based Systems Research Group, University of Osnabrück, Osnabrück, Germany;Institute of Computer Science, Knowledge Based Systems Research Group, University of Osnabrück, Osnabrück, Germany;Institute of Computer Science, Knowledge Based Systems Research Group, University of Osnabrück, Osnabrück, Germany;Fraunhofer Institute for Autonomous Intelligent Systems, Sankt Augustin, Germany
Venue:
KI'05 Proceedings of the 28th annual German conference on Advances in Artificial Intelligence
Year:
2005

Citing 12
Cited 7

Least-Squares Fitting of Two 3-D Point Sets

IEEE Transactions on Pattern Analysis and Machine Intelligence
A Method for Registration of 3-D Shapes

IEEE Transactions on Pattern Analysis and Machine Intelligence - Special issue on interpretation of 3-D scenes—part II
A comparison of four algorithms for estimating 3-D rigid transformations

BMVC '95 Proceedings of the 1995 British conference on Machine vision (Vol. 1)
Learning metric-topological maps for indoor mobile robot navigation

Artificial Intelligence
Simultaneous registration of multiple range views for use in reverse engineering of CAD models

Computer Vision and Image Understanding - Special issue on CAD-based computer vision
Globally Consistent Range Scan Alignment for Environment Mapping

Autonomous Robots
A Probabilistic Approach to Concurrent Mapping and Localization for Mobile Robots

Autonomous Robots
Reconstructing Textured CAD Model of Urban Environment Using Vehicle-Borne Laser Range Scanners and Line Cameras

ICVS '01 Proceedings of the Second International Workshop on Computer Vision Systems
Robotic mapping: a survey

Exploring artificial intelligence in the new millennium
Fast global registration of 3D sampled surfaces using a multi-z-buffer technique

NRC '97 Proceedings of the International Conference on Recent Advances in 3-D Digital Imaging and Modeling
Multiview registration for large data sets

3DIM'99 Proceedings of the 2nd international conference on 3-D digital imaging and modeling
Localization methods for a mobile robot in urban environments

IEEE Transactions on Robotics

Registration of surfaces minimizing error propagation for a one-shot multi-slit hand-held scanner

Pattern Recognition
Range determination for mobile robots using an omnidirectional camera

Integrated Computer-Aided Engineering - Informatics in Control, Automation and Robotics
6D SLAM with cached K-D tree search

RA '07 Proceedings of the 13th IASTED International Conference on Robotics and Applications
3D mapping with multi-resolution occupied voxel lists

Autonomous Robots
6D scan registration using depth-interpolated local image features

Robotics and Autonomous Systems
An inexpensive 3D scanner for indoor mobile robots

IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
3D environment reconstruction using modified color ICP algorithm by fusion of a camera and a 3D laser range finder

IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems

Quantified Score

Hi-index	0.00

Visualization

Abstract

6D SLAM (Simultaneous Localization and Mapping) or 6D Concurrent Localization and Mapping of mobile robots considers six dimensions for the robot pose, namely, the x, y and z coordinates and the roll, yaw and pitch angles. Robot motion and localization on natural surfaces, e.g., driving with a mobile robot outdoor, must regard these degrees of freedom. This paper presents a robotic mapping method based on locally consistent 3D laser range scans. Scan matching, combined with a heuristic for closed loop detection and a global relaxation method, results in a highly precise mapping system for outdoor environments. The mobile robot Kurt3D was used to acquire data of the Schloss Birlinghoven campus. The resulting 3D map is compared with ground truth, given by an aerial photograph.