Real-time robot trajectory estimation and 3D map construction using 3D camera

被引：43

作者：

Ohno, Kazunori ^{[1
]}

Nomura, Takafumi ^{[2
]}

Tadokoro, Satoshi ^{[1
]}

机构：

[1] Tohoku Univ, GSIS, Aoba Ku, 6-6-01 Aramaki Aza Aoba, Sendai, Miyagi 9808579, Japan

[2] Terumo Co Ltd, Tokyo 1510072, Japan

来源：

2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12 | 2006年

关键词：

SLAM on rubble; 3D camera; fast and robust ICP; rescue robot;

D O I：

10.1109/IROS.2006.282027

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Our research objective is Simultaneous Localization and Mapping (SLAM) in rubble environment. The map construction requires estimation of robot trajectory in 3D space. However, it is hard to estimate it by using odometry or gyro in rubble. In this paper, the authors proposed real-time SLAM based on 3D scan match. 3D camera is used for measurement of 3D shape and its texture in real-time. 3D map and robot trajectory are estimated by combining these 3D scan data. ICP algorithm is used for the matching method. The authors modified ICP algorithm as fast and robust one for real-time 3D map construction.

引用

页码：5279 / +

页数：2

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