6DOF semi-rigid SLAM for mobile scanning
6DOF semi-rigid SLAM for mobile scanning
复制标题
用于移动扫描的 6DOF 半刚性 SLAM
DOI：
10.1109/iros.2012.6385509
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发表时间：
2012
期刊：
影响因子：
--
通讯作者：
A. Nüchter
中科院分区：
文献类型：
--
作者：
J. Elseberg;D. Borrmann;A. Nüchter
通过激光测距仪的3D点云的地面采集最近已经转移到移动的平台。在移动车辆的同时测量环境需要IMU、GPS和里程计等定位系统的高精度。我们提出了一种新的半刚性SLAM算法，该算法在每个时间点校正车辆的全球位置，同时提高整个采集地图的质量和准确性。使用该算法，可以补偿定位系统的暂时故障或定位系统的缺失。我们展示了我们的方法在各种各样的系统和数据集的能力。
The terrestrial acquisition of 3D point clouds by laser range finders has recently moved to mobile platforms. Measuring the environment while simultaneously moving the vehicle demands a high level of accuracy from positioning systems such as the IMU, GPS and odometry. We present a novel semi-rigid SLAM algorithm that corrects the global position of the vehicle at every point in time, while simultaneously improving the quality and accuracy of the entire acquired map. Using the algorithm the temporary failure of positioning systems or the lack thereof can be compensated for. We demonstrate the capabilities of our approach on a wide variety of systems and data sets.