6D SLAM with an application in autonomous mine mapping

被引：129
|
作者：
Nüchter, A [1 ]
Surmann, H [1 ]
Lingemann, K [1 ]
Hertzberg, J [1 ]
Thrun, S [1 ]
机构：
[1] Schloss Birlinghoven, Fraunhofer Inst Autonomous Intelligent Syst, D-53754 St Augustin, Germany
来源：
2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS | 2004年
关键词：
D O I：
10.1109/ROBOT.2004.1308117
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
引用
收藏
页码：1998 / +
页数：2
相关论文
共 50 条
  • [21] Complex dynamics from a novel memristive 6D hyperchaotic autonomous system
    Mezatio B.A.
    Motchongom Tingue M.
    Kengne R.
    Tchagna Kouanou A.
    Fozin Fonzin T.
    Tchitnga R.
    International Journal of Dynamics and Control, 2020, 8 (01) : 70 - 90
  • [22] Mapping 6D N=1 supergravities to F-theory
    Kumar, Vijay
    Morrison, David R.
    Taylor, Washington
    JOURNAL OF HIGH ENERGY PHYSICS, 2010, (02):
  • [23] Multi-Robot 6D Graph SLAM Connecting Decoupled Local Reference Filters
    Schuster, Martin J.
    Brand, Christoph
    Hirschmueller, Heiko
    Suppa, Michael
    Beetz, Michael
    2015 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), 2015, : 5093 - 5100
  • [24] Real-Time 6D Lidar SLAM in Large Scale Natural Terrains for UGV
    Liu, Zhongze
    Chen, Huiyan
    Di, Huijun
    Tao, Yi
    Gong, Jianwei
    Xiong, Guangming
    Qi, Jianyong
    2018 IEEE INTELLIGENT VEHICLES SYMPOSIUM (IV), 2018, : 662 - 667
  • [25] A novel memristive 6D hyperchaotic autonomous system with hidden extreme multistability
    Mezatio, Brice Anicet
    Motchongom, Marceline Tingue
    Tekam, Blaise Raoul Wafo
    Kengne, Romanic
    Tchitnga, Robert
    Fomethe, Anaclet
    CHAOS SOLITONS & FRACTALS, 2019, 120 : 100 - 115
  • [26] The 6D superswirl
    Parameswaran, SL
    Tasinato, G
    Zavala, I
    NUCLEAR PHYSICS B, 2006, 737 (1-2) : 49 - 72
  • [27] ON THE MAPPING PROBLEM IN SLAM APPROACHES FOR AUTONOMOUS ROBOT NAVIGATION
    Raju, Vomsheendhur
    Selekwa, Majura F.
    PROCEEDINGS OF ASME 2021 INTERNATIONAL MECHANICAL ENGINEERING CONGRESS AND EXPOSITION (IMECE2021), VOL 7B, 2021,
  • [28] US LASIK results on myopia (-1 to -15D) and hyperopia (0 to +6D) with astigmatism (-0.50 to -6D) with the Autonomous Technologies LADARVision excimer laser system
    McDonald, MB
    Frantz, JM
    Price, FW
    INVESTIGATIVE OPHTHALMOLOGY & VISUAL SCIENCE, 1999, 40 (04) : S893 - S893
  • [29] High Accuracy Real-Time 6D SLAM with Feature Extraction Using a Neural Network
    Wang, Jiayi
    Fujimoto, Yasutaka
    IEEJ JOURNAL OF INDUSTRY APPLICATIONS, 2021, 10 (05) : 512 - 519
  • [30] Robust 6D Pose Estimation for Texture-varying Objects in Autonomous System
    Fujiwaka, Masaya
    Nugami, Kousuke
    2023 IEEE 47TH ANNUAL COMPUTERS, SOFTWARE, AND APPLICATIONS CONFERENCE, COMPSAC, 2023, : 39 - 44
12345