DocumentCode
664038
Title
Mapping with synthetic 2D LIDAR in 3D urban environment
Author
Chong, Z.J. ; Qin, B. ; Bandyopadhyay, T. ; Ang, M.H. ; Frazzoli, Emilio ; Rus, Daniela
Author_Institution
Nat. Univ. of Singapore, Singapore, Singapore
fYear
2013
fDate
3-7 Nov. 2013
Firstpage
4715
Lastpage
4720
Abstract
In this paper, we report a fully automated detailed mapping of a challenging urban environment using single LIDAR. To improve scan matching, extended correlative scan matcher is proposed. Also, a Monte Carlo loop closure detection is implemented to perform place recognition efficiently. Automatic recovery of the pose graph map in the presence of false place recognition is realized through a heuristic based loop closure rejection. This mapping framework is evaluated through experiments on the real world dataset obtained from NUS campus environment.
Keywords
Monte Carlo methods; optical radar; optical scanners; radar target recognition; 3D urban environment; Monte Carlo loop closure detection; NUS campus environment; correlative scan matcher; graph map; heuristic based loop closure rejection; place recognition; scan matching; synthetic 2D LIDAR; Laser radar; Monte Carlo methods; Optimization; Robot sensing systems; Robustness; Three-dimensional displays; Urban areas;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on
Conference_Location
Tokyo
ISSN
2153-0858
Type
conf
DOI
10.1109/IROS.2013.6697035
Filename
6697035
Link To Document