Title :
3D SLAM using planar segments
Author :
Weingarten, Jan ; Siegwart, Roland
Author_Institution :
Autonomous Syst. Lab, Swiss Fed. Inst. of Technol., Lausanne
Abstract :
This paper presents an improved feature-based 3D SLAM approach for a mobile robot equipped with a rotating laser scanner. The features are represented using the SPmodel, with associated planar segment information based on decimated polygon sets. An extended Kalman filter is used to build a three-dimensional map of the environment and track the robot´s pose. As shown, the resulting maps are highly detailed, useful for higher-level robotic tasks and small in size
Keywords :
Kalman filters; SLAM (robots); mobile robots; 3D SLAM approach; SPmodel; decimated polygon sets; extended Kalman filter; higher-level robotic tasks; mobile robot; planar segments; rotating laser scanner; three-dimensional map; Feature extraction; Intelligent robots; Iterative algorithms; Iterative closest point algorithm; Laser modes; Layout; Mobile robots; Navigation; Orbital robotics; Simultaneous localization and mapping;
Conference_Titel :
Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on
Conference_Location :
Beijing
Print_ISBN :
1-4244-0258-1
Electronic_ISBN :
1-4244-0259-X
DOI :
10.1109/IROS.2006.282245
