Real-time robot trajectory estimation and 3D map construction using 3D camera

Research output: Chapter in Book/Report/Conference proceedingConference contribution

57 Citations (Scopus)

Abstract

Our research objective is Simultaneous Localization and Mapping (SLAM) in rubble environment. The map construction requires estimation of robot trajectory in 3D space. However, it is hard to estimate it by using odometry or gyro in rubble. In this paper, the authors proposed real-time SLAM based on 3D scan match. 3D camera is used for measurement of 3D shape and its texture in real-time. 3D map and robot trajectory are estimated by combining these 3D scan data. ICP algorithm is used for the matching method. The authors modified ICP algorithm as fast and robust one for real-time 3D map construction.

Original languageEnglish
Title of host publication2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Pages5279-5285
Number of pages7
DOIs
Publication statusPublished - 2006 Dec 1
Event2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing, China
Duration: 2006 Oct 92006 Oct 15

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Other

Other2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
CountryChina
CityBeijing
Period06/10/906/10/15

Keywords

  • 3D camera
  • Fast and robust ICP
  • Rescue robot
  • SLAM on rubble

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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