DocumentCode :
3029491
Title :
Optimization techniques for laser-based 3D particle filter SLAM
Author :
Welle, Jochen ; Schulz, Dirk ; Bachran, Thomas ; Cremers, Armin B.
Author_Institution :
Fraunhofer FKIE, Wachtberg, Germany
fYear :
2010
fDate :
3-7 May 2010
Firstpage :
3525
Lastpage :
3530
Abstract :
In recent years multiple simultaneous localization and mapping (SLAM) algorithms have been proposed, which address the challenges of 3D environments in combination with six degress of freedom in the robot position. Commonly, solutions based on scan-matching algorithms are applied. In contrast to these approaches, we propose to use a particle filter transferring the concept of the 2D Rao-Blackwellized particle filter SLAM to 3D. As filter input, 3D laser range data and odometry readings are obtained while the robot is in motion. The ground plane is estimated based on previously built map parts, thereby approaching the problem that not all degrees of freedom are covered by the odometry. To gain control of the high memory requirements for the particles´ 3D map representations, we introduce a memory efficient search structure and adapt a technique to efficiently organize and share maps between particles. We evaluate our approach based on experimental results obtained by simulation as well as measurements of a real robot system.
Keywords :
SLAM (robots); distance measurement; optimisation; particle filtering (numerical methods); laser-based 3D particle filter SLAM; odometry; optimization techniques; robot position; search structure; simultaneous localization and mapping; Computer science; Gain control; Indoor environments; Laser theory; Mobile robots; Particle filters; Robot sensing systems; Robotics and automation; Simultaneous localization and mapping; USA Councils;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation (ICRA), 2010 IEEE International Conference on
Conference_Location :
Anchorage, AK
ISSN :
1050-4729
Print_ISBN :
978-1-4244-5038-1
Electronic_ISBN :
1050-4729
Type :
conf
DOI :
10.1109/ROBOT.2010.5509992
Filename :
5509992
Link To Document :
بازگشت