Title :
3D plane-based egomotion for SLAM on semi-structured environment
Author :
Viejo, Diego ; Cazorla, Miguel
Author_Institution :
Univ. de Alicante, Alicante
fDate :
Oct. 29 2007-Nov. 2 2007
Abstract :
Several works deal with 3D data in SLAM problem. Data come from a 3D laser sweeping unit or a stereo camera, both providing a huge amount of data. In this paper, we detail an efficient method to extract planar patches from 3D raw data. Then, we use these patches in an ICP-like method in order to address the SLAM problem. Using ICP with planes is not a trivial task. It needs some adaptation from the original ICP. Some promising results are shown for outdoor environment.
Keywords :
laser beam applications; mobile robots; path planning; 3D data; 3D laser sweeping unit; 3D plane-based egomotion; 3D raw data; ICP-like method; SLAM; mobile robot; robotics community; semi-structured environment; stereo camera; Cameras; Data acquisition; Data mining; Feature extraction; Intelligent robots; Iterative closest point algorithm; Notice of Violation; Robot kinematics; Simultaneous localization and mapping; USA Councils; 3D robot mapping; SLAM; plane extraction; registration;
Conference_Titel :
Intelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
978-1-4244-0912-9
Electronic_ISBN :
978-1-4244-0912-9
DOI :
10.1109/IROS.2007.4399138
