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Submap Matching for Stereo-Vision Based Indoor/Outdoor SLAM

Brand, Christoph and Schuster, Martin J. and Hirschmüller, Heiko and Suppa, Michael (2015) Submap Matching for Stereo-Vision Based Indoor/Outdoor SLAM. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, 28 Sep - 02 Oct 2015, Hamburg, Germany.

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Autonomous robots operating in semi- or unstructured environments, e.g. during search and rescue missions, require methods for online on-board creation of maps to support path planning and obstacle avoidance. Perception based on stereo cameras is well suited for mixed indoor/outdoor environments. The creation of full 3D maps in GPS-denied areas however is still a challenging task for current robot systems, in particular due to depth errors resulting from stereo reconstruction. State-of-the-art 6D SLAM approaches employ graph-based optimization on the relative transformations between keyframes or local submaps. To achieve loop closures, correct data association is crucial, in particular for sensor input received at different points in time. In order to approach this challenge, we propose a novel method for submap matching. It is based on robust keypoints, which we derive from local obstacle classification. By describing geometrical 3D features, we achieve invariance to changing viewpoints and varying light conditions. We performed experiments in indoor, outdoor and mixed environments. In all three scenarios we achieved a final 3D position error of less than 0.23% of the full trajectory. In addition, we compared our approach with a 3D RBPF SLAM from previous work, achieving an improvement of at least 27% in mean 2D localization accuracy in different scenarios.

Item URL in elib:https://elib.dlr.de/100759/
Document Type:Conference or Workshop Item (Speech)
Title:Submap Matching for Stereo-Vision Based Indoor/Outdoor SLAM
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Brand, Christophchristoph.brand (at) dlr.deUNSPECIFIED
Schuster, Martin J.martin.schuster (at) dlr.deUNSPECIFIED
Hirschmüller, Heikoheiko.hirschmueller (at) dlr.deUNSPECIFIED
Suppa, Michaelmichael.suppa (at) dlr.deUNSPECIFIED
Date:September 2015
Journal or Publication Title:IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
Series Name:Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems
Keywords:mapping map matching SLAM search and rescue localization robotics
Event Title:2015 IEEE/RSJ International Conference on Intelligent Robots and Systems
Event Location:Hamburg, Germany
Event Type:international Conference
Event Dates:28 Sep - 02 Oct 2015
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Multisensorielle Weltmodellierung
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Perception and Cognition
Deposited By: Schuster, Martin
Deposited On:10 Dec 2015 09:45
Last Modified:31 Jul 2019 19:57

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