3D Mapping and Localization Using Leveled Map Accelerated ICP

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26220%2F08%3APU72244" target="_blank" >RIV/00216305:26220/08:PU72244 - isvavai.cz</a>

Result on the web

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DOI - Digital Object Identifier

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Result language

čeština

Original language name

3D Mapping and Localization Using Leveled Map Accelerated ICP

Original language description

The ability of a robot to navigate itself in the environment is a crucial step towards its autonomy. In this article a method for simultaneous localization an mapping (SLAM) of mobile robots in six degrees of freedom (6DOF) is presented. As an input, themethod is using 3D range data acquired from a continuously inclined laser rangefinder. The localization and mapping task is equal to the registration of multiple 3D images into a common frame of reference. For this purpose, an extended version of the Iterative Closest Point (ICP) algorithm is being used. In order to accelerate the time-demanding 6DOF image registration, the method is modified in the following way: first, a 3DOF registration is performed using leveled maps extracted from the 3D data, followed by a robust 6DOF registration. The proposed method compared to a single phase 6DOF registration gives promising results in structured environments.

Czech name

3D Mapping and Localization Using Leveled Map Accelerated ICP

Czech description

The ability of a robot to navigate itself in the environment is a crucial step towards its autonomy. In this article a method for simultaneous localization an mapping (SLAM) of mobile robots in six degrees of freedom (6DOF) is presented. As an input, themethod is using 3D range data acquired from a continuously inclined laser rangefinder. The localization and mapping task is equal to the registration of multiple 3D images into a common frame of reference. For this purpose, an extended version of the Iterative Closest Point (ICP) algorithm is being used. In order to accelerate the time-demanding 6DOF image registration, the method is modified in the following way: first, a 3DOF registration is performed using leveled maps extracted from the 3D data, followed by a robust 6DOF registration. The proposed method compared to a single phase 6DOF registration gives promising results in structured environments.

Type

D - Article in proceedings

CEP classification

JA - Electronics and optoelectronics

OECD FORD branch

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Project

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Continuities

Z - Vyzkumny zamer (s odkazem do CEZ)

Publication year

2008

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection

European Robotics Symposium 2008

ISBN

978-3-540-78315-2

ISSN

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e-ISSN

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Number of pages

11

Pages from-to

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Publisher name

Springer

Place of publication

Neuveden

Event location

Praha

Event date

Mar 26, 2008

Type of event by nationality

EUR - Evropská akce

UT code for WoS article

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