Point-Cloud Mapping and Merging Using Mobile Laser Scanner

被引：8

作者：

Morita, Kakeru ^{[1
]}

Hashimoto, Masafumi ^{[2
]}

Takahashi, Kazuhiko ^{[2
]}

机构：

[1] Doshisha Univ, Grad Sch Sci & Engn, Kyotanabe 6100321, Japan

[2] Doshisha Univ, Fac Sci & Engn, Kyotanabe 6100321, Japan

来源：

2019 THIRD IEEE INTERNATIONAL CONFERENCE ON ROBOTIC COMPUTING (IRC 2019) | 2019年

关键词：

mobile laser scanner; map generation; map merging; NDT scan matching; full graph-based SLAM;

D O I：

10.1109/IRC.2019.00078

中图分类号：

TP3 [计算技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a method for building a 3D point-cloud map in a residential environment using a mobile laser scanner. Several submaps are generated in different small areas using normal distributions transform (NDT) scan matching based simultaneous localization and mapping (SLAM) and full graph-based SLAM. When a loop closure (revisit) of the vehicle is detected, two constraints are used in the graph-based SLAM to improve submap accuracy: the poses of the vehicle obtained by NDT scan matching and one-to-one matching of pole-like landmarks, such as utility poles and traffic sign poles. The merging of the submaps is also performed using the full graph-based SLAM. The experimental results for three-submap generation and merging in a residential environment validate the effectiveness of the proposed method.

引用

页码：417 / 418

页数：2

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