Benchmark of 6D SLAM (6D Simultaneous Localisation and Mapping) Algorithms with Robotic Mobile Mapping Systems
PBN-AR
Instytucja
Instytut Podstawowych Problemów Techniki Polskiej Akademii Nauk
Informacje podstawowe
Główny język publikacji
EN
Czasopismo
Foundations of Computing and Decision Sciences (15pkt w roku publikacji)
ISSN
0867-6356
EISSN
Wydawca
DOI
Rok publikacji
2017
Numer zeszytu
3
Strony od-do
275-295
Numer tomu
42
Identyfikator DOI
Liczba arkuszy
Słowa kluczowe
EN
Mobile robot
Mobile mapping system
Iterative Closest Point
Least Square Surface Matching
Normal Distribution Transform
LUM
6DSLAM
CUDA
Streszczenia
Język
EN
Treść
This work concerns the study of 6DSLAM algorithms with an application of robotic mobile mapping systems. The architecture of the 6DSLAM algorithm is designed for evaluation of different data registration strategies. The algorithm is composed of the iterative registration component, thus ICP (Iterative Closest Point), ICP (point to projection), ICP with semantic discrimination of points, LS3D (Least Square Surface Matching), NDT (Normal Distribution Transform) can be chosen. Loop closing is based on LUM and LS3D. The main research goal was to investigate the semantic discrimination of measured points that improve the accuracy of final map especially in demanding scenarios such as multi-level maps (e.g., climbing stairs). The parallel programming based nearest neighborhood search implementation such as point to point, point to projection, semantic discrimination of points is used. The 6DSLAM framework is based on modified 3DTK and PCL open source libraries and parallel programming techniques using NVIDIA CUDA. The paper shows experiments that are demonstrating advantages of proposed approach in relation to practical applications. The major added value of presented research is the qualitative and quantitative evaluation based on realistic scenarios including ground truth data obtained by geodetic survey. The research novelty looking from mobile robotics is the evaluation of LS3D algorithm well known in geodesy.
Cechy publikacji
original-article
Inne
System-identifier
5559
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