The Extension of Lu and Milios SLAM to 6 DOF

	Institute of Computer Science — Knowledge-Based Systems Research Group
	The Extension of Lu and Milios SLAM to 6 DOF

by Dorit Borrmann and Jan Elseberg

Bridge near AVZ University of Osnabrueck

With our robot Kurt3D we drove a six DOF loop over and under the bridge. During the run, the robot took several 3D laser scans. These scans have been matched with ICP (bottom left) and with an extended version of the algorithm of Lu and Milios (bottom right).

ICP scan matching LUM scan matching

Videos

Example 1: Bridge
Bridge (top View) (DiVX 2 MB)
Bridge (side View) (DiVX 2 MB)

Example 2: Second Floor AVZ, University of Osnabrück
AVZ (part 1) (DiVX 0.7 MB)
AVZ (part 2) (DiVX 1.2 MB)

Example 3: Closed loop around the small lake in the Botanical Garden, University of Osnabrück
small lake (rec. at ground level) (DiVX 13.0 MB)
small lake (top view) (DiVX 13.0 MB))
small lake (front view) (DiVX 13.0 MB)
small lake (top view) (DiVX 13.0 MB)

Please use a DivX player to show the video.

Presentation

Here, you find slides of a presentation (in German) ([PDF])

Reference

In German:

Dorit Borrmann and Jan Elseberg, Global konsistente 3D Kartierung am Beispiel des Botanischen Gartens in Osnabrück [PDF], B.Sc. Mathematics / Computer Science, University of Osnabrück, submitted October 2006.

In English:

Dorit Borrmann, Jan Elseberg, Kai Lingemann, Andreas Nüchter and Joachim Hertzberg. Globally consistent 3D mapping with scan matching. Journal of Robotics and Autonomous Systems, Vol. 56, Issue 2, pages 130 - 142, February 2008, [ScienceDirect Link] [Get Paper] [Get Videos].
Dorit Borrmann, Jan Elseberg, Kai Lingemann, Andreas Nüchter, and Joachim Hertzberg. The Efficient Extension of Globally Consistent Scan Matching to 6 DoF. In Proceedings of the 4th International Symposium on 3D Data Processing, Visualization and Transmission (3DPVT '08), Available electronically as Tech Report GT-IC-08-05 from the Georgia Institute of Technology, Atlanta, GA, USA, pages 29-36, June 2008 [Get Paper] [Get Video] [Addendum].

Andreas Nüchter, November 2006