The DOI matches its Crossref record; 2 of the 2 references it cites were found in a registry or an index.
6D SLAM with an application in autonomous mine mapping
Abstract
To create with an autonomous mobile robot a 3D volumetric map of a scene it is necessary to gage several 3D scans and to merge them into one consistent 3D model. This paper provides a new solution to the simultaneous localization and mapping (SLAM) problem with six degrees of freedom. Robot motion on natural surfaces has to cope with yaw, pitch and roll angles, turning pose estimation into a problem in six mathematical dimensions. A fast variant of the Iterative Closest Points algorithm registers the 3D scans in a common coordinate system and relocalizes the robot. Finally, consistent 3D maps are generated using a global relaxation. The algorithms have been tested with 3D scans taken in the Mathies mine, Pittsburgh, PA. Abandoned mines pose significant problems to society, yet a large fraction of them lack accurate 3D maps.
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Cites
Object modeling by registration of multiple range images
Chen, Y., & Medioni, G. (2002) · Proceedings. 1991 IEEE International Conference on Robotics and Automation · doi:10.1109/robot.1991.132043 · Cited by 1,409
Surmann, H., Nüchter, A., & Hertzberg, J. (2003) · Robotics and Autonomous Systems · doi:10.1016/j.robot.2003.09.004 · Cited by 527
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A Review of Point Cloud Registration Algorithms for Mobile Robotics
Pomerleau, F., Colas, F., & Siegwart, R. (2015) · Foundations and Trends® in Robotics · doi:10.1561/2300000035 · Cited by 717
A mean field annealing approach to accurate free form shape matching
Liu, Y. (2007) · Pattern Recognition · doi:10.1016/j.patcog.2006.11.025 · Cited by 28
Metadata
- Authors
- Nuchter, A., Surmann, H., Lingemann, K., Hertzberg, J., & Thrun, S.
- Venue
- IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004
- Publisher
- IEEE
- Published
- 2004
- Pages
- 1998-2003 Vol.2
- ISSN
- 1050-4729 (ISSN-L)
- OpenAlex
- W2098718871
- Cited by
- 253
- References
- 2
- FWCI
- 29.07
- Type
- conference paper
- Language
- en
- Open access
- closed
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- Nuchter, A., Surmann, H., Lingemann, K., Hertzberg, J., & Thrun, S. (2004). 6D SLAM with an application in autonomous mine mapping. IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004. https://doi.org/10.1109/robot.2004.1308117
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Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
