Real-Time Robot Trajectory Estimation and 3D Map Construction using 3D Camera
作者： Kazunori Ohno , Takafumi Nomura , Satoshi Tadokoro
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摘要: Our research objective is Simultaneous Localization and Mapping (SLAM) in rubble environment. The map construction requires estimation of robot trajectory 3D space. However, it hard to estimate by using odometry or gyro rubble. In this paper, the authors proposed real-time SLAM based on scan match. camera used for measurement shape its texture real-time. are estimated combining these data. ICP algorithm matching method. modified as fast robust one construction.
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