6D SLAM with an application in autonomous mine mapping

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 2004, Issue 2, 2004, Pages 1998-2003

  Nüchter, Andreas ^a   Surmann, Hartmut ^a   Lingemann, Kai ^a   Hertzberg, Joachim ^a   Thrun, Sebastian ^b  

^a FRAUNHOFER IAIS   (Germany)

^b Stanford University   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; CONTAMINATION; DEGREES OF FREEDOM (MECHANICS); GROUNDWATER; MATHEMATICAL MODELS; MINING; PROBLEM SOLVING;

ITERATIVE CLOSEST POINTS (ICP); LASER SENSORS; SIMULTANEUS LOCALIZATION AND MAPPING (SLAM);

ROBOTS;

EID: 3042629062     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/robot.2004.1308117     Document Type: Conference Paper

References (24)

1. P. Allen, I. Stomos, A. Gueorguiev, E. Gold, and P. Blaer. AVENUE: Automated Site Modeling in Urban Environments. In Proc. IEEE 3DIM, Canada, 2001.
2. T. Bailey. Mobile Robot Localisation and Mapping in Extensive Outdoor Environments. PhD thesis, University of Sydney, Australia, 2002.
3. J.J. Behvood and R.J. Waugh. Bats and mines: Abandoned does not always mean empty. Bats, 9(3), 1991.
4. R. Benjemaa and F. Schmitt. Fast Global Registration of 3D Sampled Surfaces Using a Multi-Z-Buffer Technique. In Proc. IEEE 3DIM, Canada, 1997.
5. P. Besl and N. McKay. A method for Registration of 3-D Shapes. IEEE Transactions on PAMI, 14(2):239 - 256, February 1992.
6. P. Boulanger, O. Jokinen, and A. Beraldin. Intrinsic Filtering of Range Images Using a Physically Based Noise Model. In Proc. 15th Int. Conf. on Vision Interface, Canada, 2002.
7. Y. Chen and G. Medoni. Object Modelling by Registration of Multiple Range Images. In Proc. IEEE ICRA, USA, April 1991.
8. P. Corke, J. Cunningham, D. Dekker, , and H. Durant-Whyte. Autonomous underground vehicles. In Proc. of the CMTE Mining Technology Conference, pages 16-22, Australia, September 1996.
9. D. Eggert, A. Fitzgibbon, and R. Fisher. Simultaneous Registration of Multiple Range Views Satisfying Global Consistency Constraints for Use In Reverse Engineering. Computer Vision and Image Understanding, 69:253 - 272, March 1998.
10. D. Ferguson, A. Morris, D. Hähnel, C. Baker, Z. Omohundro, C. Reverie, S. Thayer, W. Whittaker, W. Whittaker, W. Burgard, and S. Thrun. An autonomous robotic system for mapping abandoned mines. In S. Thrun, L. Saul, and B. Schölkopf, editors, Proc. of NIPS. MIT Press, 2003.
11. J. Folkesson and H. Christensen. Outdoor Exploration and SLAM using a Compressed Filter. In Proc. of the IEEE ICRA, Taiwan, 2003.
12. N. Gelfand, S. Rusinkiewicz, and M. Levoy. Geometrically Stable Sampling for the ICP Algorithm. In Proc. IEEE 3DIM, Canada, 2003.
13. M. Greenspan and M. Yurick. Approximate K-D Tree Search for Efficient ICP. In Proc. IEEE 3DIM, Canada, 2003.
14. M. Hebert, M. Deans, D. Huber, B. Nabbe, and N. Vandapel. Progress in 3-D Mapping and Localization. In Proc. SIRS, France, 2001.
15. B. Horn. Closed-form solution of absolute orientation using unit quaternions. Journal of the Optical Society of America A, 4(4):629 - 642, April 1987.
16. A. Morris, D. Kurth, W. Whittaker, and S. Thayer. Case studies of a borehole deployable robot for limestone mine profiling and mapping. In Proc. FSR, Japan, 2003.
17. A. Nüchter, H. Surmann, K. Lingemann, and J. Hertzberg. Consistent 3D Model Construction with Autonomous Mobile Robots. In Proc. 26th German Conference on AI KI 2003, Germany, 2003.
18. E. Pauley, T. Shumaker, and B. Cole. Preliminary report of investigation: Underground bituminous coal mine, non-injury mine inundation accident (entrapment), July 24, 2002, Quecreek, Pennsylvania, 2002. Black Wolf Coal Company, Inc. for the PA Bureau of Deep Mine Safety.
19. K. Pulli. Multiview Registration for Large Data Sets. In 3DIM, 1999.
20. S. Rusinkiewicz and M. Levoy. Efficient variants of the ICP algorithm. In Proc. IEEE 3DIM, pages 145 - 152, Canada, 2001.
21. D. Simon, M. Hebert, and T. Kanade. Real-time 3-D pose estimation using a high-speed range sensor. In Proc. IEEE ICRA, USA, 1994.
22. H. Surmann, A. Nüchter, and J. Hertzberg. An autonomous mobile robot with a 3D laser range finder for 3D exploration and digitalization of indoor environments. Robotics and Autonomous Systems, 12 2003.
23. S. Thrun, D. Fox, and W. Burgard. A real-time algorithm for mobile robot mapping with application to multi robot and 3D mapping. In Proc. of the IEEE ICRA, USA, 2000.
24. S. Thrun, D. Hähnel, D. Ferguson, M. Montemerlo, R. Triebel, W. Burgard, C. Baker, Z. Omohundro, S. Thayer, and W. Whittaker. A system for volumetric robotic mapping of abandoned mines. In Proc. of the IEEE ICRA, 2003.