The Elastic View Graph Framework for Autonomous, Surface-based 3D-SLAM - Part II: Global Layer and Experiments

Peter Kohlhepp; Marcus Strand; Georg Bretthauer; Rudiger Dillmann

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The Elastic View Graph Framework for Autonomous, Surface-based 3D-SLAM - Part II: Global Layer and Experiments

机译：用于基于曲面的自主3D-SLAM的Elastic View图形框架-第二部分：全局层和实验

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This paper covers the global aspects of a new SLAM framework introduced in [9]. The map is a graph of overlapping range views, linked by multiple uncertain hypotheses of motion and correspondence. They form the interface between local pose estimation and globally consistent mapping. In order to prune the hypotheses and reduce the brittleness of the local algorithms, we propose a novel cooperation between image-based and odometric motion estimates, and a geometric-probabilistic visibility model for oriented surface features which can also discern moving objects. Global loop closing works by exchanging hypotheses, priorized on a node ambiguity measure to bound the update complexity. The cycle error in frame space is used as a consistency criterion. The new concepts were tested and evaluated during several indoor exploration tours.

机译：本文涵盖了[9]中引入的新SLAM框架的全局方面。该地图是重叠的范围视图的图形，由多个不确定的运动和对应关系假设链接。它们形成局部姿势估计和全局一致映射之间的接口。为了简化假设并减少局部算法的脆弱性，我们提出了基于图像和里程运动估计之间的新颖合作，以及针对定向表面特征的几何概率可见性模型，该模型还可以识别运动物体。全局循环关闭通过交换假设来工作，该假设优先于节点歧义度以限制更新的复杂性。帧空间中的循环误差用作一致性标准。在几次室内探索之旅中对新概念进行了测试和评估。

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《Automatisierungstechnik: Methoden und Anwendungen der Steuerungs-, Regelungs- und Informationstechnik》 |2007年第4期|共11页
作者
Peter Kohlhepp; Marcus Strand; Georg Bretthauer; Rudiger Dillmann;
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正文语种 eng
中图分类自动控制理论;
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Simultaneous localization and mapping (SLAM); Range image; Surface feature; Correspondence; Multi-hypothesis; Uncertainty;

机译：同时定位与测绘（SLAM）;范围图像;表面特征;对应;多假设;不确定性;

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机译：用于基于曲面的自主3D-SLAM的Elastic View图形框架-第二部分：全局层和实验
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The Elastic View Graph Framework for Autonomous, Surface-based 3D-SLAM - Part II: Global Layer and Experiments

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