Benchmark of 6D SLAM (6d simultaneous localization and mapping) algorithms with robotic mobile mapping systems

• Autorzy: Będkowski J. , Röhling T. , Hoeller F. , Shulz D. , Schneider F. E.

Identyfikatory

DOI

10.1515/fcds-2017-0014

• Języki publikacji: EN

Abstrakty

EN

This work concerns the study of 6DSLAM algorithms with an application of robotic mobile mapping systems. The architecture of the 6DSLAM algorithm is designed for evaluation of different data registration strategies. The algorithm is composed of the iterative registration component, thus ICP (Iterative Closest Point), ICP (point to projection), ICP with semantic discrimination of points, LS3D (Least Square Surface Matching), NDT (Normal Distribution Transform) can be chosen. Loop closing is based on LUM and LS3D. The main research goal was to investigate the semantic discrimination of measured points that improve the accuracy of final map especially in demanding scenarios such as multi-level maps (e.g., climbing stairs). The parallel programming based nearest neighborhood search implementation such as point to point, point to projection, semantic discrimination of points is used. The 6DSLAM framework is based on modified 3DTK and PCL open source libraries and parallel programming techniques using NVIDIA CUDA. The paper shows experiments that are demonstrating advantages of proposed approach in relation to practical applications. The major added value of presented research is the qualitative and quantitative evaluation based on realistic scenarios including ground truth data obtained by geodetic survey. The research novelty looking from mobile robotics is the evaluation of LS3D algorithm well known in geodesy.

Słowa kluczowe

EN

mobile robot; mobile mapping system; Least Square Surface Matching; LUM; 6D SLAM; CUDA; ICP; NDT

• Wydawca: Wydawnictwo Politechniki Poznańskiej
• Czasopismo: Foundations of Computing and Decision Sciences
• Rocznik: 2017
• Tom: Vol. 42, No. 3
• Strony: 276--295
• Opis fizyczny: Bibliogr. 27 poz., fig., tab.

Twórcy

autor

Będkowski J.

• Institute of Fundamental Technological Research, Polish Academy of Science, Warsaw, Poland IPPT PAN

autor

Röhling T.

• Fraunhofer-Institut für Kommunikation, Informationsverarbeitung und Ergonomie, Kognitive Mobile Systeme, Wachtberg, Germany FKIE

autor

Hoeller F.

• Fraunhofer-Institut für Kommunikation, Informationsverarbeitung und Ergonomie, Kognitive Mobile Systeme, Wachtberg, Germany FKIE

autor

Shulz D.

• Fraunhofer-Institut für Kommunikation, Informationsverarbeitung und Ergonomie, Kognitive Mobile Systeme, Wachtberg, Germany FKIE

autor

Schneider F. E.

• Fraunhofer-Institut für Kommunikation, Informationsverarbeitung und Ergonomie, Kognitive Mobile Systeme, Wachtberg, Germany FKIE

Bibliografia

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Uwagi

Opracowanie ze środków MNiSW w ramach umowy 812/P-DUN/2016 na działalność upowszechniającą naukę (zadania 2017).