Interactive 3D Graph SLAM for Map Correction
| Autor: | Atsuhiko Banno, Kenji Koide, Shuji Oishi, Jun Miura, Masashi Yokozuka |
|---|---|
| Rok vydání: | 2021 |
| Předmět: |
0209 industrial biotechnology
Control and Optimization business.industry Computer science Mechanical Engineering Feature extraction Interactive 3d Biomedical Engineering 02 engineering and technology Simultaneous localization and mapping Computer Science Applications Human-Computer Interaction 020901 industrial engineering & automation Artificial Intelligence Control and Systems Engineering 0202 electrical engineering electronic engineering information engineering Graph (abstract data type) 020201 artificial intelligence & image processing Computer vision Computer Vision and Pattern Recognition Artificial intelligence business Graphical user interface |
| Zdroj: | IEEE Robotics and Automation Letters. 6:40-47 |
| ISSN: | 2377-3774 |
| DOI: | 10.1109/lra.2020.3028828 |
| Popis: | This letter presents an interactive graph SLAM framework with a 3D LIDAR. This framework allows the user to interactively correct a 3D environmental map generated by an automatic SLAM system. By optimizing a pose graph consisting of pose constraints created by the automatic SLAM and map correction constraints, which are created by the user through a graphical user interface, we obtain a large and globally consistent 3D environmental map. We propose semi-automatic loop closing and plane-based map correction techniques for creating map correction constraints. We also devise a pose constraint update approach to refine the pose constraints given by the automatic SLAM. The evaluation results demonstrate that the proposed system enables us to improve the consistency of mapping results and obtain a mapping accuracy that outperforms state-of-the-art automatic SLAM frameworks with minimal human effort. |
| Databáze: | OpenAIRE |
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