TY - GEN
T1 - A SLAM with simultaneous construction of 2D and 3D maps based on Rao-Blackwellized particle filters
AU - Li, Yao
AU - Zhun, Fan
AU - Guijie, Zhu
AU - Wenji, Li
AU - Chong, Li
AU - Yupeng, Wang
AU - Honghui, Xie
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/6/8
Y1 - 2018/6/8
N2 - This paper presents a SLAM (Simultaneous Localization and Mapping) method which builds 2D grid maps and generates the OctoMap based on Rao-Blackwellized particle filters. This work combines wheeled odometry and laser scan with particle filter algorithm to get the pose of the robot, and at the same time fuses the data of depth camera to generate OctoMap, OctoMap is an integrated open source framework based on octree, which is well known for its memory efficiency for the representation of 3D environments. The traditional 3D point cloud map cannot be applied in robot navigation. But OctoMap is a 3D occupancy grid mapping, which can be applied to 3D path planning of flying robots and other robots that are equipped with manipulators. In short, the experimental results demonstrate that the proposed methods can make a robot to synchronize building 2D and 3D maps very efficiently.
AB - This paper presents a SLAM (Simultaneous Localization and Mapping) method which builds 2D grid maps and generates the OctoMap based on Rao-Blackwellized particle filters. This work combines wheeled odometry and laser scan with particle filter algorithm to get the pose of the robot, and at the same time fuses the data of depth camera to generate OctoMap, OctoMap is an integrated open source framework based on octree, which is well known for its memory efficiency for the representation of 3D environments. The traditional 3D point cloud map cannot be applied in robot navigation. But OctoMap is a 3D occupancy grid mapping, which can be applied to 3D path planning of flying robots and other robots that are equipped with manipulators. In short, the experimental results demonstrate that the proposed methods can make a robot to synchronize building 2D and 3D maps very efficiently.
KW - 2D grid map
KW - Gmapping
KW - OctoMap
KW - Rao-blackwellized particle filters
KW - SLAM
UR - http://www.scopus.com/inward/record.url?scp=85049794133&partnerID=8YFLogxK
U2 - 10.1109/ICACI.2018.8377487
DO - 10.1109/ICACI.2018.8377487
M3 - Conference Proceeding
AN - SCOPUS:85049794133
T3 - Proceedings - 2018 10th International Conference on Advanced Computational Intelligence, ICACI 2018
SP - 374
EP - 378
BT - Proceedings - 2018 10th International Conference on Advanced Computational Intelligence, ICACI 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 10th International Conference on Advanced Computational Intelligence, ICACI 2018
Y2 - 29 March 2018 through 31 March 2018
ER -