3D Mapping and Localization Using Leveled Map Accelerated ICP

Kód výsledku v 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>

Výsledek na webu

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DOI - Digital Object Identifier

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Jazyk výsledku

čeština

Název v původním jazyce

3D Mapping and Localization Using Leveled Map Accelerated ICP

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

3D Mapping and Localization Using Leveled Map Accelerated ICP

Popis výsledku anglicky

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.

Druh

D - Stať ve sborníku

CEP obor

JA - Elektronika a optoelektronika, elektrotechnika

OECD FORD obor

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Projekt

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Návaznosti

Z - Vyzkumny zamer (s odkazem do CEZ)

Rok uplatnění

2008

Kód důvěrnosti údajů

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

Název statě ve sborníku

European Robotics Symposium 2008

ISBN

978-3-540-78315-2

ISSN

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e-ISSN

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Počet stran výsledku

11

Strana od-do

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Název nakladatele

Springer

Místo vydání

Neuveden

Místo konání akce

Praha

Datum konání akce

26. 3. 2008

Typ akce podle státní příslušnosti

EUR - Evropská akce

Kód UT WoS článku

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