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ICRA
2010
IEEE

Robust place recognition for 3D range data based on point features

13 years 28 days ago
Robust place recognition for 3D range data based on point features
Abstract— The problem of place recognition appears in different mobile robot navigation problems including localization, SLAM, or change detection in dynamic environments. Whereas this problem has been studied intensively in the context of robot vision, relatively few approaches are available for threedimensional range data. In this paper, we present a novel and robust method for place recognition based on range images. Our algorithm matches a given 3D scan against a database using point features and scores potential transformations by comparing significant points in the scans. A further advantage of our approach is that the features allow for a computation of the relative transformations between scans which is relevant for registration processes. Our approach has been implemented and tested on different 3D data sets obtained outdoors. In several experiments we demonstrate the advantages of our approach also in comparison to existing techniques.
Bastian Steder, Giorgio Grisetti, Wolfram Burgard
Added 26 Jan 2011
Updated 26 Jan 2011
Type Journal
Year 2010
Where ICRA
Authors Bastian Steder, Giorgio Grisetti, Wolfram Burgard
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