Three-dimensional SLAM for mapping planetary work site environments

  • Authors:

  • Chi Hay Tong;Timothy D. Barfoot;Érick Dupuis

  • Affiliations:

  • Institute for Aerospace Studies, University of Toronto, 4925 Dufferin Street, Toronto, Ontario M3H 5T6, Canada;Institute for Aerospace Studies, University of Toronto, 4925 Dufferin Street, Toronto, Ontario M3H 5T6, Canada;Space Exploration, Canadian Space Agency, 6767 Route de l'Aéroport, Saint-Hubert, Québec J3Y 8Y9, Canada

  • Venue:
  • Journal of Field Robotics
  • Year:
  • 2012

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Abstract

In this paper, we present a robust framework suitable for conducting three-dimensional simultaneous localization and mapping (3D SLAM) in a planetary work site environment. Operation in a planetary environment imposes sensing restrictions, as well as challenges due to the rugged terrain. Utilizing a laser rangefinder mounted on a rover platform, we have demonstrated an approach that is able to create globally consistent maps of natural, unstructured 3D terrain. The framework presented in this paper utilizes a sparse-feature-based approach and conducts data association using a combination of feature constellations and dense data. Because of feature scarcity, odometry measurements are also incorporated to provide additional information in feature-poor regions. To maintain global consistency, these measurements are resolved using a batch alignment algorithm, which is reinforced with heterogeneous outlier rejection to improve its robustness to outliers in either measurement type (i.e., laser or odometry). Finally, a map is created from the alignment estimates and the dense data. Extensive validation of the framework is provided using data gathered at two different planetary analogue facilities, which consist of 50 and 102 3D scans, respectively. At these sites, root-mean-squared mapping errors of 4.3 and 8.9 cm were achieved. Relative metrics are utilized for localization accuracy and map quality, which facilitate detailed analysis of the performance, including failure modes and possible future improvements. © 2012 Wiley Periodicals, Inc. © 2012 Wiley Periodicals, Inc.