Abstract
This paper reports a method and results for solving
the following problem: Given a 3D polygonal indoor
map and a mobile robot equipped with a 3D time of
flight (ToF) camera, localize at frame rate the 6D
robot pose with respect to the map. To solve the
problem, the polygonal map is represented for
efficient usage as a solid-leaf BSP tree; at each
control cycle, the 6D pose change is estimated a
priori from odometry or IMU, the expected ToF camera
view at the prior pose sampled from the BSP tree,
and the pose change estimation corrected a
posteriori by fast ICP matching of the expected and
the measured ToF image. Our experiments indicate
that, first, the method is in fact real-time
capable; second, the 6D pose is tracked reliably in
a correct map under regular sensor conditions; and
third, the tracking can recover from some faults
induced by local map inaccuracies and transient or
local sensing errors.
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