Publication

3D SLAM using Planar Segments

Roland Siegwart, Jan Weingarten
2006
Conference Papers

Abstract

This paper presents an improved feature-based 3D SLAM approach for a mobile robot equipped with a rotating laser scanner. The features are represented within the SPmodel, with associated planar segment information based on decimated triangle sets. An Extended Kalman Filter is used to build a three-dimensional map of the environment and track the robot's pose along with involved uncertainties. As shown, the resulting maps are highly detailed, useful for higher-level robotic tasks and small in size.

Official source

https://infoscience.epfl.ch/entities/publication/a7dd1ab7-1d6f-4f23-8423-cc8534743d6f

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3D SLAM using Planar Segments

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