Virtual Occupancy Grid Map for Submap-based Pose Graph SLAM and Planning in 3D Environments
Bing-Jui Ho, Paloma Sodhi, Pedro Teixeira, Ming Hsiao, Tushar Kusnur, Michael Kaess
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.
BibTeX
@inproceedings{iros2018_virtualoccupancy,
title = {Virtual Occupancy Grid Map for Submap-based Pose Graph SLAM and Planning in 3D Environments},
author = {Bing-Jui Ho and Paloma Sodhi and Pedro Teixeira and Ming Hsiao and Tushar Kusnur and Michael Kaess},
booktitle = {IROS 2018},
year = {2018}
}