Virtual Occupancy Grid Map for Submap-based Pose Graph SLAM and Planning in 3D Environments
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2175 - 2182, October, 2018
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
@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 = {Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems},
year = {2018},
month = {October},
pages = {2175 - 2182},
}
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