The Accuracy of 6D SLAM using the AIS 3D Laser Scanner

Author

Müller, Maurice ; Surmann, Hartmut ; Pervölz, Kai ; May, Stefan

Author_Institution

Fraunhofer Inst. for Intelligent Anal. & Inf. Syst.

fYear

2006

fDate

Sept. 2006

Firstpage

389

Lastpage

394

Abstract

Automatic sensing of the environment is a fundamental scientific issue in robotics, since it is essential for autonomous mobile robot systems. In previous works, we presented a 6D SLAM algorithm which is based on the spatial data from the AIS 3D laser scanner and a variant of the iterative closest points algorithm (ICP). In this paper we focused on the reachable accuracy of the whole approach and therefore performed several ground truth experiments. We will show that the 6D SLAM algorithm can compensate for erroneous data of the 3D laser scanner, at least in a limited range. Furthermore we will discuss different aspects which influences the accuracy of our approach

Keywords

iterative methods; mobile robots; optical scanners; path planning; 6D SLAM; AIS 3D laser scanner; automatic sensing; autonomous mobile robot systems; iterative closest points algorithm; simultaneous localization and mapping; Intelligent robots; Iterative algorithms; Iterative closest point algorithm; Laser modes; Mobile robots; Robot kinematics; Robot sensing systems; Robotics and automation; Service robots; Simultaneous localization and mapping; 3D laser scanning; 6D SLAM; ICP; accuracy determination; ground truth comparison;

fLanguage

English

Publisher

ieee

Conference_Titel

Multisensor Fusion and Integration for Intelligent Systems, 2006 IEEE International Conference on

Conference_Location

Heidelberg

Print_ISBN

1-4244-0566-1

Electronic_ISBN

1-4244-0567-X

Type

conf

DOI

10.1109/MFI.2006.265647

Filename

4042064