Extraction of Geometrical Features in 3D Environments for Service Robotic Applications
HAIS '08 Proceedings of the 3rd international workshop on Hybrid Artificial Intelligence Systems
Towards semantic maps for mobile robots
Robotics and Autonomous Systems
HSM3D: feature-less global 6DOF scan-matching in the Hough/Radon domain
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Revisiting uncertainty analysis for optimum planes extracted from 3D range sensor point-clouds
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Evaluation of 3D registration reliability and speed: a comparison of ICP and NDT
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Objective evaluation of scanning ladar configurations for mobile robots
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
3D mapping for urban service robots
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
3D feature based mapping towards mobile robots' enhanced performance in rescue missions
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Fast 3D mapping by matching planes extracted from range sensor point-clouds
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Robust 3D-mapping with time-of-flight cameras
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Fast registration based on noisy planes with unknown correspondences for 3-D mapping
IEEE Transactions on Robotics
6DOF entropy minimization SLAM for stereo-based wearable devices
Computer Vision and Image Understanding
Robot programming by demonstration
SIMPAR'10 Proceedings of the Second international conference on Simulation, modeling, and programming for autonomous robots
Three-dimensional iterative closest point-based outdoor SLAM using terrain classification
Intelligent Service Robotics
Optimized EIF-SLAM algorithm for precision agriculture mapping based on stems detection
Computers and Electronics in Agriculture
How do people walk side-by-side?: using a computational model of human behavior for a social robot
HRI '12 Proceedings of the seventh annual ACM/IEEE international conference on Human-Robot Interaction
Magnitude Sensitive Competitive Learning
Neurocomputing
Three-dimensional point cloud plane segmentation in both structured and unstructured environments
Robotics and Autonomous Systems
Multi-view dense 3D modelling of untextured objects from a moving projector-cameras system
Machine Vision and Applications
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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 outdoor with a mobile robot, must regard these degrees of freedom. This paper presents a robotic mapping method based on locally consistent 3D laser range scans. Iterative Closest Point scan matching, combined with a heuristic for closed loop detection and a global relaxation method, results in a highly precise mapping system. A new strategy for fast data association, cached kd-tree search, leads to feasible computing times. With no ground-truth data available for outdoor environments, point relations in maps are compared to numerical relations in uncalibrated aerial images in order to assess the metric validity of the resulting 3D maps. © 2007 Wiley Periodicals, Inc.