Title:
Accurate On-Line 3D Occupancy Grids Using Manhattan World Constraints

Thumbnail Image
Author(s)
Peasley, Brian
Birchfield, Stan
Cunningham, Alexander
Dellaert, Frank
Authors
Advisor(s)
Advisor(s)
Editor(s)
Associated Organization(s)
Series
Supplementary to
Abstract
In this paper we present an algorithm for constructing nearly drift-free 3D occupancy grids of large indoor environments in an online manner. Our approach combines data from an odometry sensor with output from a visual registration algorithm, and it enforces a Manhattan world constraint by utilizing factor graphs to produce an accurate online estimate of the trajectory of a mobile robotic platform. We also examine the advantages and limitations of the octree data structure representation of a 3D environment. Through several experiments in environments with varying sizes and construction we show that our method reduces rotational and translational drift significantly without performing any loop closing techniques.
Sponsor
Date Issued
2012-10
Extent
Resource Type
Text
Resource Subtype
Proceedings
Rights Statement
Rights URI