ICRA 2012 Paper Abstract

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Paper WeC08.3

Trevor, Alexander J B (Georgia Institute of Technology), Rogers III, John G. (Georgia Institute of Technology), Christensen, Henrik Iskov (Georgia Institute of Technology)

Planar Surface SLAM with 3D and 2D Sensors

Scheduled for presentation during the Regular Session "SLAM II" (WeC08), Wednesday, May 16, 2012, 15:00−15:15, Meeting Room 8 (Wacipi)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on February 23, 2018

Keywords SLAM, Range Sensing, Sensor Fusion

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.

 

 

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