NDLI: A lightweight SLAM algorithm using Orthogonal planes for indoor mobile robotics

Content Provider	IEEE Xplore Digital Library
Author	Nguyen, V. Harati, A. Siegwart, R.
Copyright Year	2007
Description	Author affiliation: ETH Zurich, Zurich (Nguyen, V.; Harati, A.; Siegwart, R.)
Abstract	Simple, fast and lightweight SLAM algorithms are necessary in many embedded robotic systems which soon will be used in houses and offices in order to do various service tasks. In this paper the Orthogonal SLAM algorithm is presented as an answer to this need. In continuation of our previous work, the algorithm is extended to generate 3D maps and empirically validated by mapping the long corridor of our lab with the accuracy comparable with hand measured ground truth. The main contribution resides in the idea of reducing the complexity by using orthogonality constraint in indoor environments. This is done by mapping only planes that are parallel or perpendicular to each other which represent the main structure of most indoor environments. Having this assumption, we use an inclined sensor setup (fixed 2D SICK laser range finders) to generate 3D orthogonal maps. The algorithm is extremely fast since in each step it just processes one line of laser measurements.
Starting Page	658
Ending Page	663
File Size	503783
Page Count	6
File Format	PDF
ISBN	9781424409112
DOI	10.1109/IROS.2007.4399512
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-10-29
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Simultaneous localization and mapping Mobile robots Intelligent robots Indoor environments Intelligent sensors Medical robotics USA Councils Laboratories Navigation
Content Type	Text
Resource Type	Article

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