Three-dimensional localization and mapping for a crawler-type mobile robot in an occluded area using the scan matching method

2005 ◽  
Author(s):  
H. Ishida ◽  
K. Nagatani ◽  
Y. Tanaka
Keyword(s):  
Mobile Robot ◽  
Three Dimensional ◽  
Matching Method ◽  
Scan Matching ◽  
Localization And Mapping

scholarly journals TOWARDS GLOBALLY CONSISTENT SCAN MATCHINGWITH GROUND TRUTH INTEGRATION

2015 ◽  
Vol XL-3/W2 ◽  
pp. 59-64
Author(s):  
J. Gailis ◽  
A. Nüchter
Keyword(s):  
Point Cloud ◽  
Three Dimensional ◽  
Simultaneous Localization And Mapping ◽  
Ground Truth ◽  
Mapping Method ◽  
Coordinate Frame ◽  
Scan Matching ◽  
Localization And Mapping ◽  
Real World Datasets ◽  
Ground Truth Information

The scan matching based simultaneous localization and mapping method with six dimensional poses is capable of creating a three dimensional point cloud map of the environment, as well as estimating the six dimensional path that the vehicle has travelled. The essence of it is the registering and matching of sequentially acquired 3D laser scans, while moving along a path, in a common coordinate frame in order to provide 6D pose estimations at the respective positions, as well as create a three dimensional map of the environment. An approach that could drastically improve the reliability of acquired data is to integrate available ground truth information. This paper is about implementing such functionality as a contribution to 6D SLAM (simultaneous localization and mapping with 6 DoF) in the 3DTK – The 3D Toolkit software (Nüchter and Lingemann, 2011), as well as test the functionality of the implementation using real world datasets.

3-D Scan Matching for Mobile Robot Localization over Rough Terrain

2019 ◽  
Vol 139 (9) ◽  
pp. 1041-1050
Author(s):  
Hiroyuki Nakagomi ◽  
Yoshihiro Fuse ◽  
Hidehiko Hosaka ◽  
Hironaga Miyamoto ◽  
Takashi Nakamura ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Rough Terrain ◽  
Robot Localization ◽  
Scan Matching ◽  
Mobile Robot Localization
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