Original scientific paper
A Heuristic Loop Closing Technique for Large-Scale 6D SLAM
Jochen Sprickerhof
; University of Osnabrück, Institute of Computer Science, Osnabrück, Germany
Andreas Nüchter
orcid.org/0000-0003-3870-783X
; Jacobs University Bremen gGmbH, School of Engineering and Science, Bremen, Germany
Kai Lingemann
; University of Osnabrück, Institute of Computer Science, Osnabrück, Germany
Joachim Hertzberg
; University of Osnabrück, Institute of Computer Science, Osnabrück, Germany
Abstract
This paper presents a novel heuristic for correcting scan pose estimations after loop closing in SLAM using 3D laser scans. Contrary to state of the art approaches, the built SLAM graph is sparse, and optimization is done without any iteration between the SLAM front and back end, yielding a highly efficient loop closing method. Several experiments were carried out in an urban environment and evaluated against ground truth. The results are compared to other state of the art algorithms, proving the high quality, yet achieved faster by an order of magnitude.
Keywords
3D robotic mapping; Simultaneous localization and mapping; Loop closing
Hrčak ID:
76071
URI
Publication date:
30.12.2011.
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