3D SLAM using Planar Segments

This paper presents an improved feature-based 3D SLAM approach for a mobile robot equipped with a rotating laser scanner. The features are represented within the SPmodel, with associated planar segment information based on decimated triangle sets. An Extended Kalman Filter is used to build a three-dimensional map of the environment and track the robot\'s pose along with involved uncertainties. As shown, the resulting maps are highly detailed, useful for higher-level robotic tasks and small in size.


Presented at:
None, Beijing, 2006 October 9-15
Year:
2006
Laboratories:




 Record created 2006-12-07, last modified 2018-01-27

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