· 2016
Real-time loop closure in 2D LIDAR SLAM
- 1,925citations
- 2016year
Short summary
A novel branch-and-bound approach enables real-time loop closure in 2D LIDAR SLAM, achieving 5 cm resolution on a resource-constrained backpack platform.
AI-generated from the title and abstract; the full text is not read.
Key points
- A branch-and-bound approach is used for scan-to-submap matching to achieve real-time loop closure.
- The system operates on a backpack mapping platform with limited computational resources.
- The SLAM system achieves a resolution of 5 cm.
- Experimental results show competitive mapping quality compared to existing methods.
AI-generated from the title and abstract; the full text is not read.
Abstract
Portable laser range-finders, further referred to as LIDAR, and simultaneous localization and mapping (SLAM) are an efficient method of acquiring as-built floor plans. Generating and visualizing floor plans in real-time helps the operator assess the quality and coverage of capture data. Building a portable capture platform necessitates operating under limited computational resources. We present the approach used in our backpack mapping platform which achieves real-time mapping and loop closure at a 5 cm resolution. To achieve realtime loop closure, we use a branch-and-bound approach for computing scan-to-submap matches as constraints. We provide experimental results and comparisons to other well known approaches which show that, in terms of quality, our approach is competitive with established techniques.
The authors' abstract, as published at the source., 2016 · DOI ↗
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Field: Aerospace Engineering
Aerospace EngineeringEngineering