PublisherEscuela Superior de Ingenieros de la Universidad de Sevilla
Rights accessOpen Access
Pose SLAM is the variant of SLAM where only the robot trajectory is estimated and in which landmarks are solely used to compute relative constraints between robot poses. In
previous work, we have developed efficient methods to build Pose SLAM maps that ponder the information content on odometry and measurement links to keep the graph of poses
sparse. In this paper we show results of Pose SLAM mapping with our custom built 3D laser and an outdoor all-terrain mobile robot. Finally, we argue that Pose SLAM graphs can be directly used as belief roadmaps and, thus, used for path planning under uncertainty. We show how to plan trajectories with the lowest accumulated robot pose uncertainty, i.e., the most reliable path to the goal, taking into account the encoded uncertainty in the map. Results of this navigation strategy are
demonstrated with our outdoor robot.
CitationTeniente, E.; Valencia, R.; Andrade-Cetto, J. Dense outdoor 3D mapping and navigation with Pose SLAM. A: Workshop Español de Robótica. "Robot 2011: robótica experimental: 28-29 noviembre 2011". Sevilla: Escuela Superior de Ingenieros de la Universidad de Sevilla, 2011, p. 567-572.
All rights reserved. This work is protected by the corresponding intellectual and industrial property rights. Without prejudice to any existing legal exemptions, reproduction, distribution, public communication or transformation of this work are prohibited without permission of the copyright holder. If you wish to make any use of the work not provided for in the law, please contact: firstname.lastname@example.org