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The accuracy of 6D SLAM using the AIS 3D laser scanner

 
: Müller, M.; Surmann, H.; Pervölz, K.; May, S.

:

Institute of Electrical and Electronics Engineers -IEEE-:
IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems 2006 : Heidelberg, Germany, 3 - 6 September 2006
Piscataway, NJ: IEEE, 2006
ISBN: 1-4244-0566-1
pp.389-394
International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI) <2006, Heidelberg>
English
Conference Paper
Fraunhofer IAIS ()

Abstract
Automatic sensing of the environment is a fundamental scientific issue in robotics, since it is essential for autonomous mobile robot systems. In previous works, we presented a 6D SLAM algorithm which is based on the spatial data from the AIS 3D laser scanner and a variant of the iterative closest points algorithm (ICP). In this paper we focused on the reachable accuracy of the whole approach and therefore performed several ground truth experiments. We will show that the 6D SLAM algorithm can compensate for erroneous data of the 3D laser scanner, at least in a limited range. Furthermore we will discuss different aspects which influences the accuracy of our approach.

: http://publica.fraunhofer.de/documents/N-58612.html