• 主题
高级搜索  >
历史搜索 清空历史
首页> 外文期刊>Journal of robotic systems >Online Three-Dimensional SLAM by Registration of Large Planar Surface Segments and Closed-Form Pose-Graph Relaxation
【24h】

Online Three-Dimensional SLAM by Registration of Large Planar Surface Segments and Closed-Form Pose-Graph Relaxation

机译：通过注册大平面曲面段和闭合形式的姿势图松弛在线三维SLAM

获取原文
获取原文并翻译 | 示例
           
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

A fast pose-graph relaxation technique is presented for enhancing the consistency of three-dimensional (3D) maps created by registering large planar surface patches. The surface patches are extracted from point clouds sampled from a 3D range Sensor. The plane-based registration method offers an alternative to the state-of-the-art algorithms and provides advantages in terms of robustness, speed, and storage. One of its features is that it results in an accurate determination of rotation, although a lack of predominant surfaces in certain directions may result in translational uncertainty in those directions. Hence, a loop-closing and relaxation problem is formulated that gains significant speed by relaxing only the translational errors and utilizes the.full-translation covariance determined during pairwise registration. This leads to a fast 3D simultaneous localization and mapping suited for online operations. The approach is tested in two disaster scenarios that were mapped at the NIST 2008 Response Robot Evaluation Exercise in Disaster City, Texas. The two data sets from a collapsed car park and a flooding disaster consist of 26 and 70 3D scans, respectively. The results of these experiments show that our approach can generate 3D maps without motion estimates by odometry and that it outperforms iterative closest point-based mapping with respect to speed and robustness.
机译：提出了一种快速姿态图松弛技术，用于增强通过注册较大的平面补丁而创建的三维（3D）地图的一致性。从从3D范围传感器采样的点云中提取表面补丁。基于平面的注册方法提供了最新算法的替代方法，并在鲁棒性，速度和存储方面提供了优势。其特征之一是，它可以精确地确定旋转方向，尽管在某些方向上缺少优势表面可能会导致这些方向上的平移不确定性。因此，提出了闭环和松弛问题，其通过仅松弛翻译错误并利用在成对配准过程中确定的全翻译协方差来获得显着的速度。这导致适用于在线操作的快速3D同时定位和映射。在德克萨斯州灾难市的NIST 2008响应机器人评估练习中绘制的两种灾难场景中对该方法进行了测试。来自停车场倒塌和洪水灾害的两个数据集分别由26次和70次3D扫描组成。这些实验的结果表明，我们的方法可以生成3D地图，而无需通过测距法进行运动估计，并且就速度和鲁棒性而言，它优于基于迭代最近点的映射。

著录项

  • 来源
    《Journal of robotic systems》 |2010年第1期|52-84|共33页
  • 作者

    Kaustubh Pathak; Andreas Birk; Narunas Vaskevicius; Max Pfingsthorn; Soeren Schwertfeger; Jann Poppinga;

  • 作者单位

    Department of Electrical Engineering and Computer Science, Jacobs University Bremen, 28751 Bremen, Germany;

    Department of Electrical Engineering and Computer Science, Jacobs University Bremen, 28751 Bremen, Germany;

    Department of Electrical Engineering and Computer Science, Jacobs University Bremen, 28751 Bremen, Germany;

    Department of Electrical Engineering and Computer Science, Jacobs University Bremen, 28751 Bremen, Germany;

    Department of Electrical Engineering and Computer Science, Jacobs University Bremen, 28751 Bremen, Germany;

    Department of Electrical Engineering and Computer Science, Jacobs University Bremen, 28751 Bremen, Germany;

  • 收录信息
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号