NDLI: Three-dimensional outdoor SLAM Using rotation invariant descriptors of salient regions

Content Provider	IEEE Xplore Digital Library
Author	Yong-Ju Lee Joong-Tae Park Jae-Bok Song
Copyright Year	2011
Description	Author affiliation: School of Mechanical Engineering, Korea University, Seoul, 136-731, Korea (Yong-Ju Lee; Jae-Bok Song) \|\| Department of Mechatronics, Korea University, Seoul, 136-731, Korea (Joong-Tae Park)
Abstract	This research proposes a novel approach to outdoor simultaneous localization and mapping (SLAM) based on local 3-D map matching. An iterative closest point (ICP) algorithm is used to match local 3-D maps and estimate a robot pose, but an alignment error is generated by the ICP algorithm due to the false selection of corresponding points. This paper proposes a new method to extract 3-D points that are valid for ICP matching. Rotation invariant descriptors are introduced for robust correspondence. 3-D environmental data acquired by tilting a 2-D laser scanner are used to build local 3-D maps. Experimental results in real environments show the increased accuracy of the ICP-based matching and a reduction in matching time.
Starting Page	1174
Ending Page	1177
File Size	1258463
Page Count	4
File Format	PDF
ISBN	9781457708350
ISSN	20937121
e-ISBN	9788993215038
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-10-26
Publisher Place	Korea (South)
Access Restriction	Subscribed
Rights Holder	ICROS
Subject Keyword	Simultaneous localization and mapping Iterative closest point algorithm Navigation SLAM Robot kinematics Vectors Mapping Three-dimensional maps Outdoor navigation
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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