Abstract:
This paper presents the formalization of the closest point plane representation and an analysis of its incorporation in 3D indoor simultaneous localization and mapping (S...Show MoreMetadata
Abstract:
This paper presents the formalization of the closest point plane representation and an analysis of its incorporation in 3D indoor simultaneous localization and mapping (SLAM). We present a singularity free plane factor leveraging the closest point plane representation, and demonstrate its fusion with inertial preintegratation measurements in a graph-based optimization framework. The resulting LiDAR-inertial 3D plane SLAM (LIPS) system is validated both on a custom made LiDAR simulator and on a real-world experiment.
Date of Conference: 01-05 October 2018
Date Added to IEEE Xplore: 06 January 2019
ISBN Information:
ISSN Information:
Keywords assist with retrieval of results and provide a means to discovering other relevant content. Learn more.
- IEEE Keywords
- Index Terms
- Simultaneous Localization And Mapping ,
- 3D Plane ,
- Light Detection And Ranging ,
- Closest Point ,
- Real-world Experiments ,
- Reference Frame ,
- Normal Vector ,
- Point Cloud ,
- Minimum Error ,
- Inertial Measurement Unit ,
- 3D Point ,
- Depth Camera ,
- Measurement Covariance ,
- Local Frame ,
- True Measure ,
- Vertical Angle ,
- Global Frame ,
- Iterative Closest Point ,
- Inertial Navigation ,
- Planar Features ,
- Graph Optimization ,
- Loop Closure ,
- Unit Quaternion ,
- Point Cloud Registration ,
- Factor Graph ,
- Indoor Environments ,
- Special Care ,
- Corruption ,
- Technical Report
Contents Keywords assist with retrieval of results and provide a means to discovering other relevant content. Learn more.
- IEEE Keywords
- Index Terms
- Simultaneous Localization And Mapping ,
- 3D Plane ,
- Light Detection And Ranging ,
- Closest Point ,
- Real-world Experiments ,
- Reference Frame ,
- Normal Vector ,
- Point Cloud ,
- Minimum Error ,
- Inertial Measurement Unit ,
- 3D Point ,
- Depth Camera ,
- Measurement Covariance ,
- Local Frame ,
- True Measure ,
- Vertical Angle ,
- Global Frame ,
- Iterative Closest Point ,
- Inertial Navigation ,
- Planar Features ,
- Graph Optimization ,
- Loop Closure ,
- Unit Quaternion ,
- Point Cloud Registration ,
- Factor Graph ,
- Indoor Environments ,
- Special Care ,
- Corruption ,
- Technical Report
