/Virtual Occupancy Grid Map for Submap-based Pose Graph SLAM and Planning in 3D Environments

Virtual Occupancy Grid Map for Submap-based Pose Graph SLAM and Planning in 3D Environments

Bing-Jui Ho, Paloma Sodhi, Pedro V. Teixeira, Ming Hsiao, Tushar Kusnur and Michael Kaess
Conference Paper, IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, IROS, October, 2018

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Abstract

In this paper, we propose a mapping approach that constructs a globally deformable virtual occupancy grid map (VOG-map) based on local submaps. Such a representation allows pose graph SLAM systems to correct globally accumulated drift via loop closures while maintaining free space information for the purpose of path planning. We demonstrate use of such a representation for implementing an underwater SLAM system in which the robot actively plans paths to generate accurate 3D scene reconstructions. We evaluate performance on simulated as well as real-world experiments. Our work furthers capabilities of mobile robots actively mapping and exploring unstructured, three dimensional environments.

BibTeX Reference
@conference{Ho-2018-107709,
author = {Bing-Jui Ho and Paloma Sodhi and Pedro V. Teixeira and Ming Hsiao and Tushar Kusnur and Michael Kaess},
title = {Virtual Occupancy Grid Map for Submap-based Pose Graph SLAM and Planning in 3D Environments},
booktitle = {IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, IROS},
year = {2018},
month = {October},
}
2018-09-21T10:03:08+00:00