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Graph SLAM with Signed Distance Function Maps on a Humanoid Robot

Wagner, René and Frese, Udo and Bäuml, Berthold (2014) Graph SLAM with Signed Distance Function Maps on a Humanoid Robot. In: IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems, 14-18 Sep 2014, Chicago, IL, USA.

Full text not available from this repository.

Abstract

For such common tasks as motion planning or object recognition robots need to perceive their environment and create a dense 3D map of it. A recent breakthrough in this area was the KinectFusion algorithm, which relies on step by step matching a depth image to the map via ICP to recover the sensor pose and updating the map based on that pose. In so far it ignores techniques developed in the graph-SLAM area such as fusion with odometry, modeling of uncertainty and distributing an observed inconsistency over the map. This paper presents a method to integrate a dense geometric truncated signed distance function (TSDF) representation as KinectFusion uses with a sparse parametric representation as common in graph SLAM. The key idea is to have local TSDF sub-maps attached to reference nodes in the SLAM graph and derive graph-SLAM links via ICP by matching a map to a depth image. By moving these reference nodes according to the graph-SLAM estimate, the overall map can be deformed without touching individual sub-maps so that re-building of sub-maps is only needed in case of significant deformation within a sub-map. Also, further information can be added to the graph as common in graph SLAM. Examples are odometry or the fact that the ground is roughly but not exactly planar. Additionally, the paper proposes a modification of the KinectFusion algorithm to improve handling of long range data by taking the range dependent uncertainty into account.

Item URL in elib:https://elib.dlr.de/93378/
Document Type:Conference or Workshop Item (Speech, Poster)
Title:Graph SLAM with Signed Distance Function Maps on a Humanoid Robot
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Wagner, Renérene.wagner (at) dlr.deUNSPECIFIED
Frese, Udoufrese (at) informatik.uni-bremen.deUNSPECIFIED
Bäuml, Bertholdberthold.baeuml (at) dlr.deUNSPECIFIED
Date:September 2014
Journal or Publication Title:IEEE/RSJ International Conference on Intelligent Robots and Systems
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:Yes
Status:Published
Keywords:SLAM Graph-SLAM SLoM KinectFusion TSDF humanoid robot Justin
Event Title:IEEE/RSJ International Conference on Intelligent Robots and Systems
Event Location:Chicago, IL, USA
Event Type:international Conference
Event Dates:14-18 Sep 2014
Organizer:IEEE/RSJ
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 on Orbit Servicing
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Autonomy and Teleoperation
Deposited By: Wagner, Rene
Deposited On:08 Jan 2015 12:00
Last Modified:09 Feb 2017 19:21

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