DMCA
Loop Closure Transformation Estimation and Verification Using 2D LiDAR Scanners
BibTeX
@MISC{Corso_loopclosure,
author = {Nicholas Corso and Avideh Zakhor},
title = {Loop Closure Transformation Estimation and Verification Using 2D LiDAR Scanners},
year = {}
}
Share
 |
 |
 |
 |
||
OpenURL
Abstract
Abstract — In many simultaneous localization and mapping (SLAM) systems, it is desirable to exploit the fact that the system is traversing though a previously visited environment. Once these locations, commonly known as loop closures, have been detected the system must be able to both compute and verify the relative transformation between proposed locations. In this paper we present two independent algorithms, using 2D LiDAR scanners, for robustly computing the transformation between arbitrary locations with overlapping geometry and validating the resulting transforms. First, a scan matching algorithm based on a genetic search and a fractional distance metric is presented. Secondly, two metrics are proposed to verify the recovered transforms. Through experimental results the proposed algorithms are shown to robustly estimate and validate loop closure transformations for both manually and automatically defined candidates. I.
Keyphrases
lidar scanner loop closure transformation estimation verification using fractional distance recovered transforms genetic search relative transformation scan matching algorithm many simultaneous localization arbitrary location independent algorithm experimental result validate loop closure transformation loop closure
