期刊
IEEE ROBOTICS AND AUTOMATION LETTERS
卷 6, 期 1, 页码 40-47出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/LRA.2020.3028828
关键词
Simultaneous localization and mapping; Three-dimensional displays; Graphical user interfaces; Two dimensional displays; Feature extraction; Laser radar; SLAM; Mapping
类别
资金
- JSPS KAKENHI [18K18072]
- Project Commissioned by the New Energy and Industrial Technology Development Organization (NEDO)
This study introduces an interactive graph SLAM framework with a 3D LIDAR, allowing users to correct 3D environmental maps interactively and achieve globally consistent maps through pose graph optimization and map correction constraints. The proposed semi-automatic loop closing and plane-based map correction techniques, along with a pose constraint update approach, improve mapping consistency and accuracy with minimal human effort, outperforming current automatic SLAM frameworks.
This letter presents an interactive graph SLAM framework with a 3D LIDAR. This framework allows the user to interactively correct a 3D environmental map generated by an automatic SLAM system. By optimizing a pose graph consisting of pose constraints created by the automatic SLAM and map correction constraints, which are created by the user through a graphical user interface, we obtain a large and globally consistent 3D environmental map. We propose semi-automatic loop closing and plane-based map correction techniques for creating map correction constraints. We also devise a pose constraint update approach to refine the pose constraints given by the automatic SLAM. The evaluation results demonstrate that the proposed system enables us to improve the consistency of mapping results and obtain a mapping accuracy that outperforms state-of-the-art automatic SLAM frameworks with minimal human effort.
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