publication . Preprint . Conference object . 2018

IMLS-SLAM: scan-to-model matching based on 3D data

Deschaud, Jean-Emmanuel;
Open Access English
  • Published: 22 May 2018
Abstract
International audience; The Simultaneous Localization And Mapping (SLAM) problem has been well studied in the robotics community, especially using mono, stereo cameras or depth sensors. 3D depth sensors, such as Velodyne LiDAR, have proved in the last 10 years to be very useful to perceive the environment in autonomous driving, but few methods exist that directly use these 3D data for odometry. We present a new low-drift SLAM algorithm based only on 3D LiDAR data. Our method relies on a scan-to-model matching framework. We first have a specific sampling strategy based on the LiDAR scans. We then define our model as the previous localized LiDAR sweeps and use the...
Subjects
free text keywords: Computer Science - Robotics, [INFO.INFO-CV]Computer Science [cs]/Computer Vision and Pattern Recognition [cs.CV], [INFO.INFO-MO]Computer Science [cs]/Modeling and Simulation, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO]
Related Organizations
17 references, page 1 of 2

[1] S. Rusinkiewicz and M. Levoy, “Efficient variants of the ICP algorithm,” in Third International Conference on 3D Digital Imaging and Modeling (3DIM), 2001.

[2] F. Pomerleau, F. Colas, and R. Siegwart, “A Review of Point Cloud Registration Algorithms for Mobile Robotics,” Foundations and Trends in Robotics, vol. 4, no. 1, pp. 1-104, 2015.

[3] A. Nu¨chter, K. Lingemann, J. Hertzberg, and H. Surmann, “6d slam—3d mapping outdoor environments: Research articles,” J. Field Robot., vol. 24, no. 8-9, pp. 699-722, Aug. 2007.

[4] M. Bosse and R. Zlot, “Continuous 3d scan-matching with a spinning 2d laser,” in 2009 IEEE International Conference on Robotics and Automation, May 2009, pp. 4312-4319. [OpenAIRE]

[5] F. Moosmann and C. Stiller, “Velodyne slam,” in 2011 IEEE Intelligent Vehicles Symposium (IV), 2011, pp. 393-398.

[6] S. Ceriani, C. Snchez, P. Taddei, E. Wolfart, and V. Sequeira, “Pose interpolation slam for large maps using moving 3d sensors,” in 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015, pp. 750-757. [OpenAIRE]

[7] J. Zhang and S. Singh, “Low-drift and real-time lidar odometry and mapping,” Autonomous Robots, vol. 41, no. 2, pp. 401-416, Feb 2017.

[8] R. A. Newcombe, S. Izadi, O. Hilliges, D. Molyneaux, D. Kim, A. J. Davison, P. Kohi, J. Shotton, S. Hodges, and A. Fitzgibbon, “Kinectfusion: Real-time dense surface mapping and tracking,” in 2011 10th IEEE International Symposium on Mixed and Augmented Reality, 2011, pp. 127-136.

[9] J.-E. Deschaud and F. Goulette, “A fast and accurate plane detection algorithm for large noisy point clouds using filtered normals and voxel growing,” in 3DPVT, 2010. [OpenAIRE]

[10] N. Gelfand, L. Ikemoto, S. Rusinkiewicz, and M. Levoy, “Geometrically stable sampling for the ICP algorithm,” in Fourth International Conference on 3D Digital Imaging and Modeling (3DIM), 2003.

[11] H. Badino, D. Huber, Y. Park, and T. Kanade, “Fast and accurate computation of surface normals from range images,” in 2011 IEEE International Conference on Robotics and Automation, 2011, pp. 3084-3091. [OpenAIRE]

[12] J. Demantke´, C. Mallet, N. David, and B. Vallet, “Dimensionality Based Scale Selection in 3d LIDAR Point Clouds,” ISPRS - International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, vol. 3812, pp. 97-102, Sep. 2011.

[13] B. Curless and M. Levoy, “A volumetric method for building complex models from range images,” in Proceedings of the 23rd Annual Conference on Computer Graphics and Interactive Techniques, ser. SIGGRAPH '96, New York, NY, USA, 1996, pp. 303-312. [OpenAIRE]

[14] D. Levin, Mesh-Independent Surface Interpolation. Berlin, Heidelberg: Springer Berlin Heidelberg, 2004, pp. 37-49.

[15] R. Kolluri, “Provably good moving least squares,” ACM Trans. Algorithms, vol. 4, no. 2, pp. 18:1-18:25, May 2008.

17 references, page 1 of 2
Powered by OpenAIRE Open Research Graph
Any information missing or wrong?Report an Issue
publication . Preprint . Conference object . 2018

IMLS-SLAM: scan-to-model matching based on 3D data

Deschaud, Jean-Emmanuel;