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EKF-based 3D SLAM for structured environment reconstruction
Open accessAbstract
This paper presents the extension and experimental validation of the widely used EKF-based SLAM algorithm to 3D space. It uses planar features extracted probabilistically from dense three-dimensional point clouds generated by a rotating 2D laser scanner. These features are represented in compliance with the symmetries and perturbation model (SPmodel) in a stochastic map. As the robot moves, this map is updated incrementally while its pose is tracked by using an extended Kalman filter. After showing how three-dimensional data can be generated, the probabilistic feature extraction method is described, capable of robustly extracting (infinite) planes from structured environments. The SLAM algorithm is then used to track a robot moving through an indoor environment and its capabilities in terms of 3D reconstruction are analyzed.
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Fischler, M. A., & Bolles, R. C. (1981) · Communications of the ACM · doi:10.1145/358669.358692 · Cited by 25,893
Cited by
6D SLAM—3D mapping outdoor environments
Nüchter, A., Lingemann, K., Hertzberg, J., & Surmann, H. (2007) · Journal of Field Robotics · doi:10.1002/rob.20209 · Cited by 450
Outdoor SLAM using visual appearance and laser ranging
Newman, P., Cole, D., & Ho, K. (2006) · Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006. · doi:10.1109/robot.2006.1641869 · Cited by 316
Using laser range data for 3D SLAM in outdoor environments
Cole, D. M., & Newman, P. M. (2006) · Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006. · doi:10.1109/robot.2006.1641929 · Cited by 313
Autonomous Navigation Using Monocular ORB SLAM2
Vithalani, S., Soni, S., & Rajpura, P. (2020) · Lecture Notes in Electrical Engineering · doi:10.1007/978-981-15-0974-2_6 · Cited by 4
Metadata
- Authors
- Weingarten, J., & Siegwart, R.
- Venue
- 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems
- Publisher
- IEEE
- Published
- 2005
- Pages
- 3834-3839
- OpenAlex
- W2109341802
- Cited by
- 167
- References
- 1
- FWCI
- 30.15
- Type
- conference paper
- Language
- en
- Open access
- green
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- Weingarten, J., & Siegwart, R. (2005). EKF-based 3D SLAM for structured environment reconstruction. 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems. https://doi.org/10.1109/iros.2005.1545285
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