The DOI matches its Crossref record; 18 of the 18 references it cites were found in a registry or an index.
Using laser range data for 3D SLAM in outdoor environments
Abstract
Traditional simultaneous localization and mapping (SLAM) algorithms have been used to great effect in flat, indoor environments such as corridors and offices. We demonstrate that with a few augmentations, existing 2D SLAM technology can be extended to perform full 3D SLAM in less benign, outdoor, undulating environments. In particular, we use data acquired with a 3D laser range finder. We use a simple segmentation algorithm to separate the data stream into distinct point clouds, each referenced to a vehicle position. The SLAM technique we then adopt inherits much from 2D delayed state (or scan-matching) SLAM in that the state vector is an ever growing stack of past vehicle positions and inter-scan registrations are used to form measurements between them. The registration algorithm used is a novel combination of previous techniques carefully balancing the need for maximally wide convergence basins, robustness and speed. In addition, we introduce a novel post-registration classification technique to detect matches which have converged to incorrect local minima
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Cites
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Incremental mapping of large cyclic environments
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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
Self-citation
Cited by
Simultaneous Localization and Mapping: A Survey of Current Trends in Autonomous Driving
Bresson, G., Alsayed, Z., Yu, L., & Glaser, S. (2017) · IEEE Transactions on Intelligent Vehicles · doi:10.1109/tiv.2017.2749181 · Cited by 885
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
Self-citationContinuous 3D scan-matching with a spinning 2D laser
Bosse, M., & Zlot, R. (2009) · 2009 IEEE International Conference on Robotics and Automation · doi:10.1109/robot.2009.5152851 · Cited by 289
Detection, classification and tracking of moving objects in a 3D environment
Azim, A., & Aycard, O. (2012) · 2012 IEEE Intelligent Vehicles Symposium · doi:10.1109/ivs.2012.6232303 · Cited by 171
Optimized EIF-SLAM algorithm for precision agriculture mapping based on stems detection
Auat Cheein, F., Steiner, G., Perez Paina, G., & Carelli, R. (2011) · Computers and Electronics in Agriculture · doi:10.1016/j.compag.2011.07.007 · Cited by 118
Metadata
- Authors
- Cole, D. M., & Newman, P. M.
- Venue
- Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.
- Publisher
- IEEE
- Published
- 2006-07-10
- Pages
- 1556-1563
- ISSN
- 1050-4729 (ISSN-L)
- OpenAlex
- W2124123377
- Cited by
- 313
- References
- 18
- FWCI
- 34.13
- Type
- conference paper
- Language
- en
- Open access
- closed
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