3D SLAMWith Scan Matching and Factor Graph Optimization

Konferenz: ISR 2018 - 50th International Symposium on Robotics
20.06.2018 - 21.06.2016 in München, Germany

Tagungsband: ISR 2018

Seiten: 8Sprache: EnglischTyp: PDF

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Emter, Thomas; Petereit, Janko (Fraunhofer Institute of Optronics, System Technologies and Image Exploitation IOSB, Fraunhoferstr. 1, 76131 Karlsruhe, Germany)

For autonomous navigation, a mobile robot needs the capability to estimate its pose while simultaneously mapping its environment. This contribution presents an approach for fusing data from multiple asynchronous sensors using factor graphs. Full 3D SLAM is performed on data from several localization sensors and point clouds from a 3D LiDAR. The scans from the LiDAR are integrated by scan matching for relative motion estimation and are also used for loop closure.