Title :
3D SLAM for planetary worksite mapping
Author :
Tong, Chi Hay ; Barfoot, Timothy D. ; Dupuis, Érick
Author_Institution :
Univ. of Toronto Inst. for Aerosp. Studies, Toronto, ON, Canada
Abstract :
In this paper, we present a robust framework suitable for conducting three-dimensional Simultaneous Localization and Mapping (3D SLAM) in a planetary worksite environment. By utilizing a laser rangefinder mounted on a rover platform, we have demonstrated an approach that is able to create globally consistent maps of natural, unstructured 3D terrain. The framework presented in this paper utilizes a sparse-feature-based approach, and conducts data association using a hybrid combination of feature constellations and dense data. To maintain global consistency, the measurements are resolved using a batch alignment algorithm, which is reinforced with batch outlier rejection to improve its robustness. Finally, a map is created from the alignment estimates and the dense data. Validation is provided using data gathered at two different planetary analogue facilities.
Keywords :
SLAM (robots); aerospace robotics; laser ranging; planetary rovers; robot vision; sensor fusion; 3D SLAM; batch alignment algorithm; data association; dense data; feature constellation; laser rangefinder; planetary analogue facility; planetary worksite mapping; rover platform; simultaneous localisation and mapping; sparse-feature-based approach; Extraterrestrial measurements; Feature extraction; Lasers; Robustness; Simultaneous localization and mapping; Three dimensional displays;
Conference_Titel :
Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on
Conference_Location :
San Francisco, CA
Print_ISBN :
978-1-61284-454-1
DOI :
10.1109/IROS.2011.6094577