Name
Abstract | ||
|---|---|---|
In this paper we present an algorithm for constructing nearly drift-free 3D occupancy grids of large indoor environments in an online manner. Our approach combines data from an odometry sensor with output from a visual registration algorithm, and it enforces a Manhattan world constraint by utilizing factor graphs to produce an accurate online estimate of the trajectory of a mobile robotic platform. We also examine the advantages and limitations of the octree data structure representation of a 3D environment. Through several experiments in environments with varying sizes and construction we show that our method reduces rotational and translational drift significantly without performing any loop closing techniques. |
Year | DOI | Venue |
|---|---|---|
2012 | 10.1109/IROS.2012.6386157 | Intelligent Robots and Systems |
Keywords | Field | DocType |
computational geometry,distance measurement,graph theory,image registration,indoor environment,mobile robots,octrees,solid modelling,Manhattan world constraints,drift-free 3D occupancy grids,factor graphs,large indoor environments,mobile robotic platform,octree data structure representation,odometry sensor,online 3D occupancy grids,online trajectory estimation,rotational drift reduction,translational drift reduction,visual registration algorithm | Factor graph,Graph theory,Computer vision,Data structure,Computer science,Odometry,Artificial intelligence,Simultaneous localization and mapping,Mobile robot,Trajectory,Octree | Conference |
ISSN | ISBN | Citations |
2153-0858 | 978-1-4673-1737-5 | 5 |
PageRank | References | Authors |
0.47 | 15 | 4 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Brian Peasley | 1 | 5 | 0.47 |
| Stanley T. Birchfield | 2 | 5 | 0.47 |
| Alexander Cunningham | 3 | 19 | 1.58 |
| Frank Dellaert | 4 | 5242 | 438.33 |