Virtual Occupancy Grid Map for Submap-based Pose Graph SLAM and Planning in 3D Environments

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“Virtual Occupancy Grid Map for Submap-based Pose Graph SLAM and Planning in 3D Environments” by B. Ho, P. Sodhi, P. Teixeira, M. Hsiao, T. Kusnur, and M. Kaess. In IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, IROS, (Madrid, Spain), Oct. 2018.

Abstract

In this paper, we propose a mapping approach that constructs a globally deformable virtual occupancy grid map (VOG-map) based on local submaps. Such a representation allows pose graph SLAM systems to correct globally accumulated drift via loop closures while maintaining free space information for the purpose of path planning. We demonstrate use of such a representation for implementing an underwater SLAM system in which the robot actively plans paths to generate accurate 3D scene reconstructions. We evaluate performance on simulated as well as real-world experiments. Our work furthers capabilities of mobile robots actively mapping and exploring unstructured, three dimensional environments.

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BibTeX entry:

@inproceedings{Ho18iros,
   author = {B. Ho and P. Sodhi and P. Teixeira and M. Hsiao and T. Kusnur
	and M. Kaess},
   title = {Virtual Occupancy Grid Map for Submap-based Pose Graph {SLAM}
	and Planning in {3D} Environments},
   booktitle = {IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, IROS},
   address = {Madrid, Spain},
   month = oct,
   year = {2018}
}
Last updated: February 15, 2019