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S.: Multi-resolution surfel mapping and realtime pose tracking using a continuously rotating 2D laser scanner
| Venue: | In: Proc. of 11th IEEE Int. Symposium on Safety, Security, and Rescue Robotics (SSRR) (2013 |
| Citations: | 4 - 3 self |
BibTeX
@INPROCEEDINGS{Schadler_s.:multi-resolution,
author = {Mark Schadler and Sven Behnke},
title = {S.: Multi-resolution surfel mapping and realtime pose tracking using a continuously rotating 2D laser scanner},
booktitle = {In: Proc. of 11th IEEE Int. Symposium on Safety, Security, and Rescue Robotics (SSRR) (2013},
year = {}
}
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Abstract
Abstract—Mapping and real-time localization are prereq-uisites for autonomous robot navigation. They also facilitate situation awareness of remote operators in exploration or rescue missions. In this paper, we propose methods for efficient 3D mapping of environments and for tracking in real-time the 6D movement of autonomous robots using a continuously rotating 3D laser scanner. Multi-resolution surfel representations allow for compact storage and efficient registration of local maps. Real-time pose tracking is performed by a particle filter based on individual laser scan lines. We evaluate our approach using both data generated in simulation and measurements from challenging real environments. I.
Keyphrases
laser scanner multi-resolution surfel mapping individual laser scan line compact storage multi-resolution surfel representation autonomous robot real environment real-time localization efficient registration situation awareness autonomous robot navigation local map rescue mission remote operator abstract mapping particle filter real-time pose tracking
