3D SLAMWith Scan Matching and Factor Graph Optimization

Conference: ISR 2018 - 50th International Symposium on Robotics
06/20/2018 - 06/21/2016 at München, Germany

Proceedings: ISR 2018

Pages: 8Language: englishTyp: PDF

Personal VDE Members are entitled to a 10% discount on this title

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.