Globally Consistent Range Scan Alignment for Environment Mapping

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Globally Consistent Range Scan Alignment for Environment Mapping (1997)

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by F. Lu , E. Milios

Venue:	AUTONOMOUS ROBOTS
Citations:	524 - 8 self

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@ARTICLE{Lu97globallyconsistent,
    author = {F. Lu and E. Milios},
    title = {Globally Consistent Range Scan Alignment for Environment Mapping},
    journal = {AUTONOMOUS ROBOTS},
    year = {1997},
    volume = {4},
    pages = {333--349}
}

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Abstract

A robot exploring an unknown environmentmay need to build a world model from sensor measurements. In order to integrate all the frames of sensor data, it is essential to align the data properly. An incremental approach has been typically used in the past, in which each local frame of data is aligned to a cumulative global model, and then merged to the model. Because different parts of the model are updated independently while there are errors in the registration, such an approachmay result in an inconsistent model. In this paper, we study the problem of consistent registration of multiple frames of measurements (range scans), together with the related issues of representation and manipulation of spatial uncertainties. Our approachistomaintain all the local frames of data as well as the relative spatial relationships between local frames. These spatial relationships are modeled as random variables and are derived from matching pairwise scans or from odometry. Then we formulat...

Keyphrases

environment mapping consistent range scan alignment local frame inconsistent model sensor measurement pairwise scan spatial uncertainty unknown environmentmay need incremental approach related issue approachmay result consistent registration multiple frame world model different part sensor data cumulative global model spatial relationship random variable relative spatial relationship

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