3D SLAM using planar segments
- 1 October 2006
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- No. 21530858,p. 3062-3067
- https://doi.org/10.1109/iros.2006.282245
Abstract
This paper presents an improved feature-based 3D SLAM approach for a mobile robot equipped with a rotating laser scanner. The features are represented using the SPmodel, with associated planar segment information based on decimated polygon sets. An extended Kalman filter is used to build a three-dimensional map of the environment and track the robot's pose. As shown, the resulting maps are highly detailed, useful for higher-level robotic tasks and small in sizeKeywords
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