The DOI matches its Crossref record; 1 of the 1 references it cites were found in a registry or an index.
Real-time loop closure in 2D LIDAR SLAM
Abstract
Portable laser range-finders, further referred to as LIDAR, and simultaneous localization and mapping (SLAM) are an efficient method of acquiring as-built floor plans. Generating and visualizing floor plans in real-time helps the operator assess the quality and coverage of capture data. Building a portable capture platform necessitates operating under limited computational resources. We present the approach used in our backpack mapping platform which achieves real-time mapping and loop closure at a 5 cm resolution. To achieve realtime loop closure, we use a branch-and-bound approach for computing scan-to-submap matches as constraints. We provide experimental results and comparisons to other well known approaches which show that, in terms of quality, our approach is competitive with established techniques.
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Citations
Cites
Globally Consistent Range Scan Alignment for Environment Mapping
Lu, F., & Milios, E. (1997) · Autonomous Robots · doi:10.1023/a:1008854305733 · Cited by 1,304
Cited by
Labbé, M., & Michaud, F. (2019) · Journal of Field Robotics · doi:10.1002/rob.21831 · Cited by 989
The Multivehicle Stereo Event Camera Dataset: An Event Camera Dataset for 3D Perception
Zhu, A. Z., Thakur, D., Ozaslan, T., Pfrommer, B., Kumar, V., & Daniilidis, K. (2018) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2018.2800793 · Cited by 567
Autonomous Vehicles on the Edge: A Survey on Autonomous Vehicle Racing
Betz, J., Zheng, H., Liniger, A., Rosolia, U., Karle, P., Behl, M., Krovi, V., & Mangharam, R. (2022) · IEEE Open Journal of Intelligent Transportation Systems · doi:10.1109/ojits.2022.3181510 · Cited by 322
A Comparative Analysis of LiDAR SLAM-Based Indoor Navigation for Autonomous Vehicles
Zou, Q., Sun, Q., Chen, L., Nie, B., & Li, Q. (2022) · IEEE Transactions on Intelligent Transportation Systems · doi:10.1109/tits.2021.3063477 · Cited by 321
A2D2: Audi Autonomous Driving Dataset
Geyer, J., Kassahun, Y., Mahmudi, M., Ricou, X., Durgesh, R., Chung, A. S., Hauswald, L., Pham, V. H., Mühlegg, M., Dorn, S., et al. (2020) · arXiv · doi:10.48550/arxiv.2004.06320 · Cited by 250
Metadata
- Authors
- Hess, W., Kohler, D., Rapp, H., & Andor, D.
- Venue
- 2016 IEEE International Conference on Robotics and Automation (ICRA)
- Publisher
- IEEE
- Published
- 2016-05
- Pages
- 1271-1278
- ISSN
- 1050-4729 (ISSN-L)
- OpenAlex
- W2411093439
- Cited by
- 1,938
- References
- 1
- FWCI
- 186.59
- Type
- conference paper
- Language
- en
- Open access
- closed
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- Hess, W., Kohler, D., Rapp, H., & Andor, D. (2016). Real-time loop closure in 2D LIDAR SLAM. 2016 IEEE International Conference on Robotics and Automation (ICRA). https://doi.org/10.1109/icra.2016.7487258
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Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
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