Application of Visual-Inertial SLAM for 3D Mapping of Underground Environments

Conference object English OPEN
Ferreira, António Bernardo; Almeida, José Miguel; Silva, Eduardo;

The underground scenarios are one of the most challenging environments for accurate and precise 3d mapping where hostile conditions like absence of Global Positioning Systems, extreme lighting variations and geometrically smooth surfaces may be expected. So far, the sta... View more
  • References (12)
    12 references, page 1 of 2

    [1] Andreas Nu¨chter, Hartmut Surmann, Kai Lingemann, Joachim Hertzberg and Sebastian Thrun, 6D SLAM with an Application in Autonomous Mine Mapping, IEEE International Conference on Robotics and Automation (ICRA), pages 1998-2003, 2004.

    [2] Daniel Huber and Nicolas Vandapel, Automatic Three-dimensional Underground Mine Mapping, The International Journal of Robotics Research, volume 25, pages 7-17, January 2006.

    [3] Sebastian Thrun, Dirk Ha¨hnel, David Ferguson, Michael Montemerlo, Rudolph Triebel, Wolfram Burgard, Christopher Baker, Zachary Omohundro, Scott Thayer and William Whittaker, A System for Volumetric Robotic Mapping of Abandoned Mines.

    [4] Pedro Pinies, Todd Lupton, Salah Sukkarieh, Juan D. Tardo´s, Inertial Aiding of Inverse Depth SLAM Using a Monocular Camera, IEEE International Conference on Robotics and Automation (ICRA), pages 2797-2802, 2007.

    [5] Javier Civera, Andrew J. Davison and J. M. M. Montiel, Inverse Depth Parametrization for Monocular SLAM, IEEE Transactions on Robotics, volume 24, number 5, pages 932-945, October 2008.

    [6] Javier Civera, O. Garcia, Andrew J. Davison and J. M. M. Montiel, 1-Point RANSAC for EKF-Based Structure from Motion, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October 2009.

    [7] Paul J. Besl and Neil D. McKay, A Method for Registration of 3-D Shapes. IEEE Transactions on Pattern Analysis and Machine Intelligence, 14(2), pages 239-256, 1992.

    [8] R. Smith, M. Self and P. Cheeseman, Estimating Uncertain Spatial Relationships in Robotics, In I. Cox and G. Wilfong, editors, Autonomous Robot Vehicles, Springer-Verlab, 1990.

    [9] J. J. Leonard and Durrant H. Whyte, Simultaneous Map Building and Localization for an Autonomous Mobile Robot, IEEE International Conference on Intelligent Robots and Systems (IROS), Osaka, Japan, 1991.

    [10] F. Bernardini, J. Mittleman, H. Rushmeier, C. Silva, and G. Taubin, The Ball-Pivoting Algorithm for Surface Reconstruction, IEEE Transactions on Visualization and Computer Graphics (TVCG), 5(4), pages 349-359, 1999.

  • Metrics
Share - Bookmark