Hector SLAM with ICP trajectory matching

Weichen Wei, Bijan Shirinzadeh, Mohammadali Ghafarian, Shunmugasundar Esakkiappan, Tianyao Shen

Research output: Chapter in Book/Report/Conference proceedingConference PaperOther

Abstract

Simultaneous Localization and Mapping (SLAM) technologies are capable of mapping complicated environments nowadays. However, most of the existing sensor fusion approaches could not recover the system from significant failures. These failures may cause by an unexpected move of the robot, rapid change of the surrounding environment or other sensor degradation scenarios, such as poor lighting condition and smoke. During these scenarios, a SLAM system will likely generate misleading pose estimation. The accumulation of drifting will eventually cause map deformations. In this article, we propose a trajectory matching algorithm to help Hector SLAM improve its error accumulation problem. The proposed method uses Iterative Closest Point (ICP) and a reference frame to evaluate the drifting of the system. It corrects both the current system pose and existing mapping results. The proposed method is evaluated and discussed using both publicly available dataset and experiments.

Original languageEnglish
Title of host publication2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2020
PublisherIEEE, Institute of Electrical and Electronics Engineers
Pages1971-1976
Number of pages6
ISBN (Electronic)9781728167947
DOIs
Publication statusPublished - Jul 2020
EventIEEE/ASME International Conference on Advanced Intelligent Mechatronics 2020 - Boston, United States of America
Duration: 6 Jul 20209 Jul 2020
https://ieeexplore.ieee.org/xpl/conhome/9149748/proceeding (Proceedings)

Conference

ConferenceIEEE/ASME International Conference on Advanced Intelligent Mechatronics 2020
Abbreviated titleAIM 2020
CountryUnited States of America
CityBoston
Period6/07/209/07/20
Internet address

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