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    A modular hybrid SLAM for the 3D mapping of large scale environments

    191721_191721.pdf (1.036Mb)
    Access Status
    Open access
    Authors
    Le Cras, Jared
    Paxman, Jonathan
    Date
    2012
    Type
    Conference Paper
    
    Metadata
    Show full item record
    Citation
    Le Cras, Jared and Paxman, Jonathan. 2012. A modular hybrid SLAM for the 3D mapping of large scale environments, in Proceedings of the 12th International Conference on Control Automation Robotics & Vision (ICARCV), Dec 5-7 2012, pp. 1036-1041. Guangzhou, China: IEEE.
    Source Title
    Control Automation Robotics & Vision (ICARCV), 2012 12th International Conference on
    Source Conference
    Control Automation Robotics & Vision (ICARCV), 2012 12th International Conference on
    DOI
    10.1109/ICARCV.2012.6485300
    ISBN
    978-1-4673-1871-6
    9781467318709
    Remarks

    Copyright © 2012 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.

    URI
    http://hdl.handle.net/20.500.11937/22812
    Collection
    • Curtin Research Publications
    Abstract

    Underground mining environments pose many unique challenges to the task of creating extensive, survey quality 3D maps. The extreme characteristics of such environments require a modular mapping solution which has no dependency on Global Positioning Systems (GPS), physical odometry, a priori information or motion model simplification. These restrictions rule out many existing 3D mapping approaches. This work examines a hybrid approach to mapping, fusing omnidirectional vision and 3D range data to produce an automatically registered, accurate and dense 3D map. A series of discrete 3D laser scans are registered through a combination of vision based bearing-only localization and scan matching with the Iterative Closest Point (ICP) algorithm. Depth information provided by the laser scans is used to correctly scale the bearing-only feature map, which in turn supplies an initial pose estimate for a registration algorithm to build the 3D map and correct localization drift. The resulting extensive maps require no external instrumentation or a priori information. Preliminary testing demonstrated the ability of the hybrid system to produce a highly accurate 3D map of an extensive indoor space.

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