|Institute of Computer Science — Knowledge-Based Systems Research Group|
Heuristic-Based Laser Scan Matching for Outdoor 6D SLAM
Here we want to give another example for a closing loop experiment considering six degrees of freedom. Robot motion and localization on natural surfaces, e.g., driving with a mobile robot outdoor, must regard these degrees of freedom. Scan matching, combined with a heuristic for closed loop detection and a global relaxation method, results in a highly precise mapping system for outdoor environments. Download the paper here.
Andreas Nüchter, Kai Lingemann, Joachim Hertzberg, and Hartmut Surmann. Heuristic-Based Laser Scan Matching for Outdoor 6D SLAM, in KI 2005: Advances in Artificial Intelligence. 28th Annual German Conference on AI, Proceedings Springer LNAI vol. , Koblenz, Germany, September 2005, (accepted). [Get Paper (PDF)] [Get Paper (HTML)]