Toward rich geometric map for SLAM: Online Detection of Planes in 2D LIDAR
نویسنده
چکیده
Rich geometric models of the environment are needed for robots to accomplish their missions. However a robot operating in a large environment would require a compact representation. In this article, we present a method that relies on the idea that a plane appears as a line segment in a 2D scan, and that by tracking those lines frame after frame, it is possible to estimate the parameters of that plane. The method is therefore divided in three steps: fitting line segments on the points of the 2D scan, tracking those line segments in consecutive scan and estimating the parameters with a graph based SLAM (Simultaneous Localisation And Mapping) algorithm.
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تاریخ انتشار 2012