Abstract：A point-plane based point cloud matching algorithm is proposed to deal with point cloud matching problem in 3D simultaneous localization and mapping(3D-SLAM).The 6DOF matching problem in 3D space are logically simplified as a 5DOF problem firstly.And then,the algorithm extracts break point in each row of laser data and employs an area growth method to find planes in point cloud.Normal vectors of planes are computed.The rotation of two frames can be estimated by comparing normal vectors of two associated planes in two frames.An improved leveled map algorithm is used to compute the translation parameter.Experiments on real data set containing high noise validate the proposed 3D-SLAM method.
[1] Meyrowitz A L,Blidberg D R,Michelson R C.Autonomous vehicles[J].Proceedings of the IEEE,1996,84(8):1147-1164.
[2] Bailey T.Mobile robot localisation and mapping in extensive outdoor environments[D].Sydney,Australian:Australian Centre for Field Robotics,Department of Aerospace,Mechanical and Mechatronic Engineering,University of Sydney,2002.
[3] Castellanos J A,Monfiel J M M,Neira J,et al.Sensor influence in the performance of simultaneous mobile robot localization and map building[M]//Lecture Notes in Control and Information Sciences:Vol.250.Berlin,Germany:Spdnger,2000:287-296.
[4] Dissanayake M W M G,Newman P,Durrant-Whyte H F,et al.An experimental and theoretical investigation into simultaneous iocalisation and map building[M]//Lecture Notes in Control and Information Sciences:vol.250.Berlin,Germany:Springer,2000:265-274.
[5] 罗荣华,洪炳铭.移动机器人同时定位与地图创建研究进展[J].机器人,2004,26(2):182-186.Luo R H.Hong B M.The progress of simultaneous localization and mapping for mobile robot[J].Robot,2004.26(2):182-186.
[6] Guivant J,Nebot E.Optimization of the simultaneous localization and map-building algorithm for real-time implementation[J].IEEE Transactions on Robotics and Automation,2001,17(3):242-257.
[7] 郭剑辉.移动机器人同时定位与地图创建方法研究[D].南京:南京理工大学,2008.Guo J H.A study on mobile robot simultaneous localization and map building[D].Nanjing:Nanjing University of Science and Technology,2008.
[8] Holz D,Lorken C,Surmann H.Continuous 3D sensing for navigation and SLAM in cluttered and dynamic environments[C]//11th Intemational Conference on Information Fusion.Piscataway,N J,USA:IEEE.2008:1-7.
[9] Artieda J,Sebastian J M,Campoy P,et al.Visual 3-D SLAM from UAVs[J].Journal of Intelligent and Robotic Systems:Theory and Applications、2009,55(4/5):299-321.
[10] Tomono M.3D object mapping by integrating stereo SLAM and object segmentation using edge points[M]//Lecture Notes in Computer Science:vol.5875.Heidelberg,Germany:SpringerVerlag,2009:690-699.
[11] Borrmann D,Elseberg J,Lingemann K,et al.Globally consistent 3D mapping with scan matching[J].Robotics and Autonomous Systems,2008,56(2):130-142.
[12] Harati A,Gachter S,Siegwart R.Fast range image segmentation for indoor 3D-SLAM[C]//6th IFAC Symposium on Intelligent Autonomous Vehicles.Kidlington,UK:Elsevier Science,2007.
[13] Lu E Shape registration using optimization for mobile robot navigation[D].Toronto,Canada:Canada Graduate Department of Computer Science,University of Toronto,1995.
