Dense outdoor 3D mapping and navigation with Pose SLAM
Tipus de documentText en actes de congrés
Data publicació2011
EditorEscuela Superior de Ingenieros de la Universidad de Sevilla
Condicions d'accésAccés obert
Projecte de la Comissió Europea
INTELLACT - Intelligent observation and execution of Actions and manipulations (EC-FP7-269959)CEEDS - The Collective Experience of Empathic Data Systems (EC-FP7-258749)
Abstract
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.
CitacióTeniente, 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.
Versió de l'editorhttp://cataleg.upc.edu/record=b1394693~S1*cat
Col·leccions
- VIS - Visió Artificial i Sistemes Intel.ligents - Ponències/Comunicacions de congressos [238]
- Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial - Ponències/Comunicacions de congressos [1116]
- IRI - Institut de Robòtica i Informàtica Industrial, CSIC-UPC - Ponències/Comunicacions de congressos [390]
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