NDLI: Three-dimensional iterative closest point-based outdoor SLAM using terrain classification

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Three-dimensional iterative closest point-based outdoor SLAM using terrain classification

Content Provider	Springer Nature Link
Author	Lee, Yong Ju Song, Jae Bok
Copyright Year	2011
Abstract	To navigate in an unknown environment, a robot should build a model for the environment. For outdoor environments, an elevation map is used as the main world model. We considered the outdoor simultaneous localization and mapping (SLAM) method to build a global elevation map by matching local elevation maps. In this research, the iterative closest point (ICP) algorithm was used to match local elevation maps and estimate a robot pose. However, an alignment error is generated by the ICP algorithm due to false selection of corresponding points. Therefore, we propose a new method to classify environmental data into several groups, and to find the corresponding points correctly and improve the performance of the ICP algorithm. Different weights are assigned according to the classified groups because certain groups are very sensitive to the viewpoint of the robot. Three-dimensional (3-D) environmental data acquired by tilting a 2-D laser scanner are used to build local elevation maps and to classify each grid of the map. Experimental results in real environments show the increased accuracy of the proposed ICP-based matching and a reduction in matching time.
Starting Page	147
Ending Page	158
Page Count	12
File Format	PDF
ISSN	18612776
Journal	Intelligent Service Robotics
Volume Number	4
Issue Number	2
e-ISSN	18612784
Language	English
Publisher	Springer-Verlag
Publisher Date	2011-02-18
Publisher Place	Berlin, Heidelberg
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Mapping SLAM Elevation map Outdoor environments Artificial Intelligence (incl. Robotics) Vibration, Dynamical Systems, Control User Interfaces and Human Computer Interaction Control Robotics Mechatronics
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Mechanical Engineering Computational Mechanics

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