Title :
Using laser range data for 3D SLAM in outdoor environments
Author :
Cole, David M. ; Newman, Paul M.
Author_Institution :
Dept. of Eng. Sci., Oxford Univ.
Abstract :
Traditional simultaneous localization and mapping (SLAM) algorithms have been used to great effect in flat, indoor environments such as corridors and offices. We demonstrate that with a few augmentations, existing 2D SLAM technology can be extended to perform full 3D SLAM in less benign, outdoor, undulating environments. In particular, we use data acquired with a 3D laser range finder. We use a simple segmentation algorithm to separate the data stream into distinct point clouds, each referenced to a vehicle position. The SLAM technique we then adopt inherits much from 2D delayed state (or scan-matching) SLAM in that the state vector is an ever growing stack of past vehicle positions and inter-scan registrations are used to form measurements between them. The registration algorithm used is a novel combination of previous techniques carefully balancing the need for maximally wide convergence basins, robustness and speed. In addition, we introduce a novel post-registration classification technique to detect matches which have converged to incorrect local minima
Keywords :
laser ranging; mobile robots; robot vision; 3D SLAM; 3D laser range finder; laser range data; mobile robotics; registration algorithm; segmentation algorithm; simultaneous localization and mapping algorithms; Clouds; Convergence; Data engineering; Delay; Indoor environments; Laser theory; Mobile robots; Position measurement; Simultaneous localization and mapping; Vehicles;
Conference_Titel :
Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7803-9505-0
DOI :
10.1109/ROBOT.2006.1641929