6d Slam — Preliminary Report on Closing the Loop in Six Dimensions
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چکیده
To create 3D volumetric maps of scenes with autonomous mobile robots 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 (ICP) algorithm registers the 3D scans in a common coordinate system and relocalizes the robot. Finally, consistent 3D maps are generated using closing loop detection and a global relaxation.
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تاریخ انتشار 2003