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IMPROVING GOOGLE'S CARTOGRAPHER 3D MAPPING BY CONTINUOUS-TIME SLAM
2017
The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences
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We also successfully applied our software to a similar backpack system which delivers consistent 3D point clouds even in absence of an IMU. ...
This paper shows how to use the result of Google's SLAM solution, called Cartographer, to bootstrap our continuous-time SLAM algorithm. ...
Globally consistent scan matching is a full SLAM solution for 3D point clouds. It is an offline algorithm and thus optimizes all poses in the SLAM pose graph. ...
doi:10.5194/isprs-archives-xlii-2-w3-543-2017
fatcat:2eranja2rbhbfgnegk7inweryi
A self-adaptive loop matching algorithm based on GA for 2D lidar SLAM
2022
International Conference on Computer Application and Information Security (ICCAIS 2021)
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Therefore, we propose a self-adaptive matching method based on genetic algorithm (GA) to calculate the loop closure constraints between the current scan and each local map, so as to speed up the loop detection ...
The experimental result shows that our method is superior to the traditional graph-based SLAM solutions in large scale map construction. ...
Correlative scan matching. Correlative scan matching is a scan-to-map matching algorithm which solve the problem in a probabilistic way. ...
doi:10.1117/12.2637843
fatcat:iqdxvpog2va7ziiimxtgvbpvoi
Efficient WiFi LiDAR SLAM for Autonomous Robots in Large Environments
[article]
2022
arXiv
pre-print
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However, LiDARs do not perform well in geometrically-degraded environments, due to the challenge of loop closure detection and computational load to perform scan matching. ...
The method also incorporates LiDAR scans and thus, improving computational efficiency for large and geometrically-degraded environments while maintaining the accuracy of LiDAR SLAM. ...
Applying state-of-the-art fast scan matching algorithms would lead to an improvement of the performance of the proposed method. V. ...
arXiv:2206.08733v1
fatcat:tp2gccr6xbfxfefu6pguyn3zqe
Research on Cartographer Algorithm based on Low Cost Lidar
2019
International Journal of Engineering Research and
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The experimental results in the real scene show that the improved Cartographer algorithm can construct the grid map in real time, and the efficiency and precision of the construction are obviously improved ...
The good performance of laser radar improves the positioning of mobile robots in navigation technology. threshold. ...
In the absence of an IMU, it is necessary to increase the frequency or matching accuracy of the scan match. B. global optimization Global optimization is achieved through closed loop detection. ...
doi:10.17577/ijertv8is100060
fatcat:iv3ozjkc6rcmhkczlaker7zxai
Incremental 2D Grid Map Generation from RGB-D Images
[chapter]
2021
Frontiers in Artificial Intelligence and Applications
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The method proposed in this paper can be generalized to RGB-D SLAM algorithms, and the accuracy of map building will be further improved with the development of RGB-D SLAM algorithms. ...
Meanwhile, the pose information provided by RGB-D SLAM and scan matching respectively is fused to obtain a more accurate and robust pose, which improves the accuracy of map building. ...
Referring to the scan matcher in [3] , scan matching works on the principle of finding the optimal probability value of the scanned points in a grid-based submap. ...
doi:10.3233/faia210433
fatcat:g5v3dsdmnzgy7nxt4rb44wcxh4
PRECISE INDOOR LOCALIZATION FOR MOBILE LASER SCANNER
2015
The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences
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<br><br> In this study high precision laser scanners were used with a novel way to combine the strengths of two SLAM algorithms into functional method for precise localization. ...
The results show increasing scan frequency improves the trajectory, reaching 20 mm RMSE levels for the best performing parameter sets. ...
Results of processing with SLAM algorithms can be seen in Table 2 and an example trajectory can be seen in Figure 4 . ...
doi:10.5194/isprsarchives-xl-4-w5-1-2015
fatcat:ky4fptj37nafjjgtytooc4ecdi
Occupancy Grid-Based AUV SLAM Method with Forward-Looking Sonar
2022
Journal of Marine Science and Engineering
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Subsequently, a novel particle swarm optimization genetic algorithm (PSO-GA) scan matching method is employed for matching the sonar scan data and grid map, and the matching pose would be used to correct ...
Simultaneous localization and mapping (SLAM) is an active localization method for Autonomous Underwater Vehicle (AUV), and it can mainly be used in unknown and complex areas such as coastal water, harbors ...
Conclusions This paper proposed an occupancy grid-based SLAM algorithm for AUV. Each sonar scan is processed as a scanning grid map to match the local map extracted from the whole map. ...
doi:10.3390/jmse10081056
fatcat:vxniijmribdzpdm54vtkcy3eju
SLAM and map merging
2009
Journal of Physical Agents (JoPha)
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Our approach involves a team of mobile robots that uses Scan-Matching and Fast-SLAM techniques based on scan-laser and odometry information for mapping large environments. ...
Learning maps and efficient exploration of an unknown environment is a fundamental problem in mobile robotics usually called SLAM (simultaneous localization and mapping problem). ...
ACKNOWLEDGMENT The authors would like to express their gratitude to the Comunidad de Madrid and the University of Alcalá for their support through the projects RoboCity2030 (CAM-S-0505/DPI/000176) and SLAM-MULEX ...
doi:10.14198/jopha.2009.3.1.03
fatcat:c5qjk2vne5ae7fc4eddsv7wai4
IMPROVED REFERENCE KEY FRAME ALGORITHM
2019
ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences
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This paper proposes an improvement for the RKF algorithm. ...
The result of the scan matching process, which is a key step in many of SLAM approaches, has a fundamental role of the accuracy of the map construction. ...
SLAM approaches that utilize laser rangefinders depend on a scan matching method of the successive scans (Mohamed et al., 2016) . The scan matching process is a key step in the SLAM approaches. ...
doi:10.5194/isprs-annals-iv-2-w5-133-2019
fatcat:l3keab5evfhxbdi3ia2p26yem4
Outdoor SLAM Using Monocular Vision-Based Localization with LIDAR-Aided Mapping for service robot in Highway
2021
Converter
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This paper designed an intelligent service robot system in highway based on multi-sensor fusion. ...
The experimental results show that the system is effective in application as an intelligent service robot of highway. ...
The process of scanning and matching is realized by the Ceres method, which uses an optimized method to obtain the pose. ...
doi:10.17762/converter.303
fatcat:3h7bfapobrdz7pmbuwflzcpioa
Optimization of SLAM Gmapping based on Simulation
2020
International Journal of Engineering Research and
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This paper presents the Optimization of Simultaneous Localization and Mapping (SLAM) Gmapping algorithm, and compare the results of experiments based on the optimized parameters. ...
From the known types of SLAM, we analyze Gmapping, and used the dataset and the ground truth standard map to carry out the experimental results in the simulation. ...
In an analysis [5] , the SLAM algorithms were applied in the same experimental environment by using crawler-based robot. ...
doi:10.17577/ijertv9is040107
fatcat:fouhskqmavakjfa32zdwxao4c4
2D LiDAR SLAM Back-End Optimization with Control Network Constraint for Mobile Mapping
2018
Sensors
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Adding distance constraints of the control network to the back-end optimization is an effective and practical method to solve the drift accumulation of LiDAR front-end scan matching. ...
However, in 2D Light Detection and Ranging (LiDAR) SLAM, on one hand, it is relatively difficult to extract distinctive features in LiDAR scans for loop closure detection, as 2D LiDAR scans encode much ...
There are two main types of scan-matching algorithms: scan-to-scan matching and scan-to-map matching. ...
doi:10.3390/s18113668
fatcat:dqxtq6tbljapdeb463dujofidu
A Fast and Robust Feature-Based Scan-Matching Method in 3D SLAM and the Effect of Sampling Strategies
2013
International Journal of Advanced Robotic Systems
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As a scan-matching framework, an improved version of the normal distribution transform (NDT) is used. ...
Therefore, the proposed scan-matching algorithm is more robust than conventional methods. ...
Firstly, the conventional or feature-based scan-matching methods use the ICP algorithm; in contrast, the proposed scan-matching method using feature points uses an improved NDT algorithm. ...
doi:10.5772/56964
fatcat:nzkw3qod2ndwzjnmm7pwm5l6be
A Distributed Indoor Mapping Method Based on Control-Network-Aided SLAM: Scheme and Analysis
2020
Applied Sciences
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The experimental results show that the relative accuracy can reach 0.08 m, an improvement of 49.8% compared to the mapping result without loop closure. ...
As an efficient method, Simultaneous Localization and Mapping (SLAM) based on Light Detection and Ranging (LiDAR) has been applied for fast indoor mobile mapping. ...
Author Contributions: J.T. and C.Q. contributed SLAM algorithm materials and analyzed the feasibility of the scheme, analyzed the data, and wrote the paper; J.W. conceived and designed the experiments; ...
doi:10.3390/app10072420
doaj:5222f332a6844ec39e4d2695d215155e
fatcat:pnmoercfnjaqvd4wflhxxsxl5q
Adversarial Scan Attack against Scan Matching Algorithm for Pose Estimation in LiDAR-based SLAM
2021
IEICE Transactions on Fundamentals of Electronics Communications and Computer Sciences
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The SLAM algorithm generates the wrong map from the deceived movement path estimated by scan matching. ...
In this paper, we introduce a new attack against the LiDAR-based simultaneous localization and mapping (SLAM) algorithm. ...
Scan matching algorithm The scan matching algorithm is used for robot pose estimation in 2D-LiDAR SLAM. ...
doi:10.1587/transfun.2021cip0017
fatcat:2fumlcvv5bbbjnadguytc2rvnm
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