Izvorni znanstveni članak

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

Sažetak

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.

Ključne riječi

3D robotic mapping; Simultaneous localization and mapping; Loop closing

Hrčak ID:

76071

URI

https://hrcak.srce.hr/76071

Datum izdavanja:

30.12.2011.

Podaci na drugim jezicima: hrvatski

Posjeta: 3.100 *