Sciweavers

Share
ICRA
2010
IEEE

Consistent mapping of multistory buildings by introducing global constraints to graph-based SLAM

8 years 10 months ago
Consistent mapping of multistory buildings by introducing global constraints to graph-based SLAM
— In the past, there has been a tremendous advance in the area of simultaneous localization and mapping (SLAM). However, there are relatively few approaches for incorporating prior information or knowledge about structural similarities into the mapping process. Consider, for example, office buildings in which most of the offices have an identical geometric layout. The same typically holds for the individual stories of buildings. In this paper, we propose an approach for generating alignment constraints between different floors of the same building in the context of graph-based SLAM. This is done under the assumption that the individual floors of a building share at least some structural properties. To identify such areas, we apply a particle filter-based localization approach using maps and observations from different floors. We evaluate our system using several real datasets as well as in simulation. The results demonstrate that our approach is able to correctly align multiple...
Michael Karg, Kai M. Wurm, Cyrill Stachniss, Klaus
Added 26 Jan 2011
Updated 26 Jan 2011
Type Journal
Year 2010
Where ICRA
Authors Michael Karg, Kai M. Wurm, Cyrill Stachniss, Klaus Dietmayer, Wolfram Burgard
Comments (0)
books