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
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DOI：
10.1109/iros.2018.8594234
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发表时间：
2018-10
期刊：
影响因子：
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通讯作者：
Bing-Jui Ho;Paloma Sodhi;P. Teixeira;Ming Hsiao;Tushar Kusnur;M. Kaess
中科院分区：
文献类型：
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作者：
Bing-Jui Ho;Paloma Sodhi;P. Teixeira;Ming Hsiao;Tushar Kusnur;M. Kaess
在本文中，我们提出了一种映射方法，构建一个全球可变形的虚拟占用网格地图（VOG地图）的基础上，当地的子地图。这样的表示允许姿态图SLAM系统经由环路闭合来校正全局累积的漂移，同时出于路径规划的目的而维持自由空间信息。我们演示了使用这样的表示实现水下SLAM系统中的机器人积极规划路径，以生成准确的3D场景重建。我们在模拟和真实世界的实验中评估性能。我们的工作进一步提高了移动的机器人主动映射和探索非结构化三维环境的能力。
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.