3D plane-based egomotion for SLAM on semi-structured environment | IEEE Conference Publication | IEEE Xplore

3D plane-based egomotion for SLAM on semi-structured environment


Abstract:

Several works deal with 3D data in SLAM problem. Data come from a 3D laser sweeping unit or a stereo camera, both providing a huge amount of data. In this paper, we detai...Show More

Abstract:

Several works deal with 3D data in SLAM problem. Data come from a 3D laser sweeping unit or a stereo camera, both providing a huge amount of data. In this paper, we detail an efficient method to extract planar patches from 3D raw data. Then, we use these patches in an ICP-like method in order to address the SLAM problem. Using ICP with planes is not a trivial task. It needs some adaptation from the original ICP. Some promising results are shown for outdoor environment.
Date of Conference: 29 October 2007 - 02 November 2007
Date Added to IEEE Xplore: 10 December 2007
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Conference Location: San Diego, CA, USA

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