Planar Surface SLAM with 3D and 2D Sensors

Abstract

We present an extension to our feature based mapping technique that allows for the use of planar surfaces such as walls, tables, counters, or other planar surfaces as landmarks in our mapper. These planar surfaces are measured both in 3D point clouds, as well as 2D laser scans. These sensing modalities compliment each other well, as they differ significantly in their measurable fields of view and maximum ranges. We present experiments to evaluate the contributions of each type of sensor.

Authors

Alexander J. B. Trevor
College of Computing,
Georgia Tech
atrevor [at] cc.gatech.edu
John G. Rogers III
United States Army Research Lab,
Adelphi, MD
john.g.rogers59.civ [at] mail.mil
Henrik Christensen
College of Computing,
Georgia Tech
hic [at] cc.gatech.edu

Paper

GDE Error: Error retrieving file - if necessary turn off error checking (404:Not Found)

Code/Data

The software framework is available as open source at http://www.omnimapper.org

Acknowledgement

This work was made possible through the Boeing corporation and ARL MAST CTA project 104953.

Citation

  • [DOI] A. J. B. Trevor, J. G. Rogers, and H. I. Christensen, “Planar surface SLAM with 3D and 2D sensors,” in Robotics and automation (icra), 2012 ieee international conference on, St. Paul, MN, 2012, pp. 3041-3048.
    [Bibtex]
    @inproceedings{trevor12:_planar_surfac_slam_sensor,
    abstract = {We present an extension to our feature based mapping technique that allows for the use of planar surfaces such as walls, tables, counters, or other planar surfaces as landmarks in our mapper. These planar surfaces are measured both in 3D point clouds, as well as 2D laser scans. These sensing modalities compliment each other well, as they differ significantly in their measurable fields of view and maximum ranges. We present experiments to evaluate the contributions of each type of sensor.},
    author = {Trevor, A J B and Rogers, J G and Christensen, H I},
    booktitle = {Robotics and Automation (ICRA), 2012 IEEE International Conference on},
    doi = {10.1109/ICRA.2012.6225287},
    issn = {1050-4729},
    keywords = {2D laser scans,2D sensors,3D point clouds,3D sensors,Feature extraction,Measurement by laser beam,SLAM,SLAM (robots),Simultaneous localization and mapping,Trajectory,feature based mapping technique,planar surface,sensors,service robots},
    month = may,
    address = {St. Paul, MN},
    organization = {IEEE},
    pages = {3041--3048},
    title = {{Planar surface SLAM with 3D and 2D sensors}},
    url = {http://dx.doi.org/10.1109/ICRA.2012.6225287},
    year = {2012}
    }
Posted in ICRA.