By Topic

Using 3D laser range data for SLAM in outdoor environments

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Brenneke, C. ; Inst. for Syst. Eng., Hannover Univ., Germany ; Wulf, O. ; Wagner, B.

Robot navigation in poorly structured and uneven outdoor environments is an unsolved problem. Thus we present a SLAM (simultaneous localization and mapping) approach that is based on "leveled range scans ". The combines 3D perception with 2D localization and mapping. In this way established path planning and 2D navigation algorithms can be used in uneven terrain without the computational costs of full three dimensional modeling. The paper describes the processing steps data acquisition, obstacle segmentation, generation of leveled range scans and SLAM with these scans. Additionally, the paper shows experimental results in man-made outdoor environments as they are typical for service robots used by civilians.

Published in:

Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on  (Volume:1 )

Date of Conference:

27-31 Oct. 2003