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Peter Kohlhepp, Marcus Strand, Georg Bretthauer, Rüdiger Dillmann
The Elastic View Graph Framework for Autonomous, Surface-based 3D-SLAM Part II: Global Layer and Experiments
Keywords: simultaneous localization and mapping (SLAM), range image, surface feature, correspondence, multi-hypothesis
This paper covers the global aspects of a new SLAM framework introduced in [9]. The map is a graph of overlapping range views, linked by multiple uncertain hypotheses of motion and correspondence. They form the interface between local pose estimation and globally consistent mapping. In order to prune the hypotheses and reduce the brittleness of the local algorithms, we propose a novel cooperation between image-based and odometric motion estimates, and a geometric-probabilistic visibility model for oriented surface features which can also discern moving objects. Global loop closing works by exchanging hypotheses, priorized on a node ambiguity measure to bound the update complexity. The cycle error in frame space is used as a consistency criterion. The new concepts were tested and evaluated during several indoor exploration tours.
at – Automatisierungstechnik, Oldenbourg Wissenschaftsverlag
Print ISSN: 0178-2312
Volume: 55, 04/2007
Pages: 190 - 200