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Heuristic-based laser scan matching for outdoor 6D SLAM

: Nüchter, A.; Lingemann, K.; Hertzberg, J.; Surmann, H.


Furbach, U.:
KI 2005: Advances in artificial intelligence : 28th Annual German Conference on AI, KI 2005, Koblenz, Germany, September 11-14, 2005. Proceedings
Berlin: Springer, 2005 (Lecture Notes in Artificial Intelligence 3698)
ISBN: 3-540-28761-2
ISBN: 978-3-540-28761-2
ISSN: 0302-9743
German Conference on Artificial Intelligence (KI) <28, 2005, Koblenz>
Conference Paper
Fraunhofer AIS ( IAIS) ()

6D SLAM (Simultaneous Localization and Mapping) or 6D Concurrent Localization and Mapping of mobile robots considers six dimensions for the robot pose, namely, the x, y and z coordinates and the roll, yaw and pitch angles. Robot motion and localization on natural surfaces, e.g., driving with a mobile robot outdoor, must regard these degrees of freedom. This paper presents a robotic mapping method based on locally consistent 3D laser range scans. Scan matching, combined with a heuristic for closed loop detection and a global relaxation method, results in a highly precise mapping system for outdoor environments. The mobile robot Kurt3D was used to acquire data of the Schloss Birlinghoven campus. The resulting 3D map is compared with ground truth, given by an aerial photograph.