@inproceedings{d099e267a47b4a63bb9080ce9cba83e2,
title = "Three-dimensional outdoor SLAM using rotation invariant descriptors of salient regions",
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.",
keywords = "Mapping, Outdoor navigation, SLAM, Three-dimensional maps",
author = "Lee, {Yong Ju} and Park, {Joong Tae} and Song, {Jae Bok}",
year = "2011",
language = "English",
isbn = "9781457708350",
series = "International Conference on Control, Automation and Systems",
pages = "1174--1177",
booktitle = "ICCAS 2011 - 2011 11th International Conference on Control, Automation and Systems",
note = "2011 11th International Conference on Control, Automation and Systems, ICCAS 2011 ; Conference date: 26-10-2011 Through 29-10-2011",
}