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conference paper
3D SLAM using Planar Segments
2006
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems
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.
Type
conference paper
Web of Science ID
WOS:000245452403034
Authors
Publication date
2006
Published in
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems
Start page
3062
End page
3067
URL
Conference Web Site
Peer reviewed
REVIEWED
EPFL units
Event name | Event place | Event date |
Beijing | 2006 October 9-15 | |
Available on Infoscience
December 7, 2006
Use this identifier to reference this record