Three-dimensional outdoor SLAM using rotation invariant descriptors of salient regions

Yong Ju Lee, Joong Tae Park, Jae Bok Song

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This research proposes a novel approach to outdoor simultaneous localization and mapping (SLAM) based on local 3-D map matching. An iterative closest point (ICP) algorithm is used to match local 3-D maps and estimate a robot pose, but an alignment error is generated by the ICP algorithm due to the false selection of corresponding points. This paper proposes a new method to extract 3-D points that are valid for ICP matching. Rotation invariant descriptors are introduced for robust correspondence. 3-D environmental data acquired by tilting a 2-D laser scanner are used to build local 3-D maps. Experimental results in real environments show the increased accuracy of the ICP-based matching and a reduction in matching time.

Original languageEnglish
Title of host publicationICCAS 2011 - 2011 11th International Conference on Control, Automation and Systems
Pages1174-1177
Number of pages4
Publication statusPublished - 2011
Event2011 11th International Conference on Control, Automation and Systems, ICCAS 2011 - Gyeonggi-do, Korea, Republic of
Duration: 2011 Oct 262011 Oct 29

Publication series

NameInternational Conference on Control, Automation and Systems
ISSN (Print)1598-7833

Other

Other2011 11th International Conference on Control, Automation and Systems, ICCAS 2011
CountryKorea, Republic of
CityGyeonggi-do
Period11/10/2611/10/29

Keywords

  • Mapping
  • Outdoor navigation
  • SLAM
  • Three-dimensional maps

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Science Applications
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • Cite this

    Lee, Y. J., Park, J. T., & Song, J. B. (2011). Three-dimensional outdoor SLAM using rotation invariant descriptors of salient regions. In ICCAS 2011 - 2011 11th International Conference on Control, Automation and Systems (pp. 1174-1177). [6106105] (International Conference on Control, Automation and Systems).