Real-Time Loop Closure in 2D LIDAR SLAM
Venue
2016 IEEE International Conference on Robotics and Automation (ICRA), pp. 1271-1278
Publication Year
2016
Authors
Wolfgang Hess, Damon Kohler, Holger Rapp, Daniel Andor
BibTeX
Abstract
Portable laser range-finders, further referred to as LIDAR, and simultaneous
localization and mapping (SLAM) are an efficient method of acquiring as-built floor
plans. Generating and visualizing floor plans in real-time helps the operator
assess the quality and coverage of capture data. Building a portable capture
platform necessitates operating under limited computational resources. We present
the approach used in our backpack mapping platform which achieves real-time mapping
and loop closure at a 5 cm resolution. To achieve real-time loop closure, we use a
branch-and-bound approach for computing scan-to-submap matches as constraints. We
provide experimental results and comparisons to other well known approaches which
show that, in terms of quality, our approach is competitive with established
techniques. IEEE-copyrighted article,
http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7487258
