6D SLAM - Preliminary report on closing the loop in six dimensions

IFAC Proceedings Volumes (IFAC-PapersOnline)

Volumn 37, Issue 8, 2004, Pages 197-202

  Surmann, Hartmut ^a   Nüchter, Andreas ^a   Lingemann, Kai ^a   Hertzberg, Joachim ^a  

^a FRAUNHOFER IAIS   (Germany)

Author keywords

3D laser scanner; 3D scan matching; Autonomous mobile robots; Closing loop; Simultaneous localization and mapping (SLAM)

Indexed keywords

DEGREES OF FREEDOM (MECHANICS); ITERATIVE METHODS; ROBOTS;

AUTONOMOUS MOBILE ROBOT; COMMON COORDINATE SYSTEMS; GLOBAL RELAXATIONS; ITERATIVE CLOSEST POINTS ALGORITHMS; MATHEMATICAL DIMENSIONS; PITCH AND ROLL ANGLES; SIMULTANEOUS LOCALIZATION AND MAPPING PROBLEMS; SIX DEGREES OF FREEDOM;

3D MODELING;

EID: 84862439017     PISSN: 14746670     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (16)

1. Allen, P., I. Stamos, A. Gueorguiev, E. Gold and P. Blaer (2001). AVENUE: Automated Site Modeling in Urban Environments. In: Proc. 3DIM. Canada.
2. Benjemaa, R. and F. Schmitt (1997). Fast Global Registration of 3D Sampled Surfaces Using a Multi-Z-Buffer Technique. In: Proc. 3DIM. Canada.
3. Besl, P. and N. McKay (1992). A method for Registration of 3-D Shapes. IEEE Transactions on PAMI 14(2), 239 - 256.
4. Chen, Y. and G. Medoni (1991). Object Modelling by Registration of Multiple Range Images. In: Proc. IEEE ICRA. USA.
5. Eggert, D., A. Fitzgibbon and R. Fisher (1998). Simultaneous Registration of Multiple Range Views Satisfying Global Consistency Constraints for Use In Reverse Engineering. CVIU 69, 253 - 272.
6. Greenspan, M. and M. Yurick (2003). Approximate K-D Tree Search for Efficient ICP. In: Proc. 3DIM. Canada.
7. Hebert, M., M. Deans, D. Huber, B. Nabbe and N. Vandapel (2001). Progress in 3-D Mapping and Localization. In: Proc. SIRS. France.
8. Horn, B. (1987). Closed-form solution of absolute orientation using unit quaternions. Journal of the Optical Society of America A 4(4), 629 - 642.
9. Nüchter, A. (2002). Autonome Exporation und Modellierung von 3D-Umgebungen, GMD Report 157 (in German). Sankt Augustin.
10. Pulli, K. (1999). Multiview Registration for Large Data Sets. In: Proc. 3DIM. Canada.
11. Sequeira, V., K. Ng, E. Wolfart, J. Goncalves and D. Hogg (1999). Automated 3D reconstruction of interiors with multiple scan-views. In: Proc. of SPIE, Electronic Imaging'99. USA.
12. Simon, D., M. Hebert and T. Kanade (1994). Real-time 3-D pose estimation using a high-speed range sensor. In: Proc. IEEE ICRA. USA.
13. Surmann, H., A. Nüchter and J. Hertzberg (2003). An autonomous mobile robot with a 3D laser range finder for 3D exploration and digitalization of indoor environments. Robotics and Autonomous Systems 45.
14. Surmann, H., K. Lingemann, A. Nüchter and J. Hertzberg (2001). A 3D laser range finder for autonomous mobile robots. In: Proc. ISR. Korea. pp. 153 - 158.
15. Thrun, S., D. Fox and W. Burgard (2000). A real-time algorithm for mobile robot mapping with application to multi robot and 3D mapping. In: Proc. IEEE ICRA. USA.
16. Zhang, Z. (1992). Iterative point matching for registration of free-form curves. Technical Report RR-1658. INRIA-Sophia Antipolis. Valbonne Cedex, France.