6D SLAM with an application in autonomous mine mapping
- 1 January 2004
- conference paper
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004
- Vol. 2, 1998-2003 Vol.2
- https://doi.org/10.1109/robot.2004.1308117
Abstract
To create with an autonomous mobile robot a 3D volumetric map of a scene it is necessary to gage several 3D scans and to merge them into one consistent 3D model. This paper provides a new solution to the simultaneous localization and mapping (SLAM) problem with six degrees of freedom. Robot motion on natural surfaces has to cope with yaw, pitch and roll angles, turning pose estimation into a problem in six mathematical dimensions. A fast variant of the Iterative Closest Points algorithm registers the 3D scans in a common coordinate system and relocalizes the robot. Finally, consistent 3D maps are generated using a global relaxation. The algorithms have been tested with 3D scans taken in the Mathies mine, Pittsburgh, PA. Abandoned mines pose significant problems to society, yet a large fraction of them lack accurate 3D maps.Keywords
This publication has 15 references indexed in Scilit:
- Outdoor exploration and SLAM using a compressed filterPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2005
- Approximate K-D tree search for efficient ICPPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2004
- Geometrically stable sampling for the ICP algorithmPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2004
- Multiview registration for large data setsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- Consistent 3D Model Construction with Autonomous Mobile RobotsLecture Notes in Computer Science, 2003
- Fast global registration of 3D sampled surfaces using a multi-z-buffer techniquePublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- AVENUE: Automated site modeling in urban environmentsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Simultaneous Registration of Multiple Range Views for Use in Reverse Engineering of CAD ModelsComputer Vision and Image Understanding, 1998
- A method for registration of 3-D shapesIEEE Transactions on Pattern Analysis and Machine Intelligence, 1992
- Closed-form solution of absolute orientation using unit quaternionsJournal of the Optical Society of America A, 1987