%0 Conference Paper %1 IAV2004 %A Surmann, H. %A Nüchter, A. %A Lingemann, K. %A Hertzberg, J. %B Proceedings of the 5th IFAC Symposium on Intelligent Autonomous Vehicles (IAV '04) %C Lisbon, Portugal %D 2004 %K imported %T 6D SLAM A Preliminary Report on Closing the Loop in Six Dimensions %U https://robotik.informatik.uni-wuerzburg.de/telematics/download/6Dpre/ %X To create 3D volumetric maps of scenes with autonomous mobile robots it is necessary to gage several 3D scans and to merge them into one consistent 3D model. This paper provides a new solution to the simultaneous localization and mapping (SLAM) problem with six degrees of freedom. Robot motion on natural surfaces has to cope with yaw, pitch and roll angles, turning pose estimation into a problem in six mathematical dimensions. A fast variant of the Iterative Closest Points (ICP) algorithm registers the 3D scans in a common coordinate system and relocalizes the robot. Finally, consistent 3D maps are generated using closing loop detection and a global relaxation. Keywords: autonomous mobile robots, 3D laser scanner, 3D scan matching, simultaneous localization and mapping (SLAM), closing loop.

@inproceedings{IAV2004, abstract = {To create 3D volumetric maps of scenes with autonomous mobile robots it is necessary to gage several 3D scans and to merge them into one consistent 3D model. This paper provides a new solution to the simultaneous localization and mapping (SLAM) problem with six degrees of freedom. Robot motion on natural surfaces has to cope with yaw, pitch and roll angles, turning pose estimation into a problem in six mathematical dimensions. A fast variant of the Iterative Closest Points (ICP) algorithm registers the 3D scans in a common coordinate system and relocalizes the robot. Finally, consistent 3D maps are generated using closing loop detection and a global relaxation. Keywords: autonomous mobile robots, 3D laser scanner, 3D scan matching, simultaneous localization and mapping (SLAM), closing loop. }, added-at = {2017-09-19T13:40:53.000+0200}, address = {Lisbon, Portugal}, author = {Surmann, H. and N{\"u}chter, A. and Lingemann, K. and Hertzberg, J.}, biburl = {https://www.bibsonomy.org/bibtex/265e01fe4ecfcc7f6a96edd5dd7eb1402/nuechter76}, booktitle = {Proceedings of the 5th IFAC Symposium on Intelligent Autonomous Vehicles (IAV '04)}, interhash = {ae87b34dc592758ecbbb4e75d0e252e3}, intrahash = {65e01fe4ecfcc7f6a96edd5dd7eb1402}, keywords = {imported}, month = {July}, timestamp = {2017-10-22T17:53:11.000+0200}, title = {{6D SLAM} {A} {P}reliminary {R}eport on {C}losing the {L}oop in {S}ix {D}imensions}, url = {https://robotik.informatik.uni-wuerzburg.de/telematics/download/6Dpre/}, year = 2004 }