Orientation correction for Hector SLAM at starting stage

Weichen Wei, Bijan Shirinzadeh, Shunmugasundar Esakkiappan, Mohammadali Ghafarian, Ammar Al-Jodah

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

Abstract

Hector simultaneous localisation and mapping(SLAM) is a popular approach for mapping a space. It requires only a Light Detection and Ranging (LiDAR) sensor to perform the mapping. It uses previous scan results to estimate the current state of the system. However, Hector SLAM suffers from serious drifting in the starting stage. This does not affect the mapping during the process but will significantly interfere the future pose estimation of the robot. Because the future pose is an estimation from the previous pose, the drift from the beginning will be recorded and results in a random rotation and translation of the map frame against other ground truth frames. This research uses a reference frame to locate the robot and correct its orientation and position during the starting period of Hector SLAMing using Point-Line Iterative Closest Point (PL-ICP). By compare the trajectory from the reference frame and the trajectory generated by the Hector SLAM, the translations and rotations caused by the joggling from the beginning can be estimated. Map and current poses of the Hector node are rotated and translated according to this translation and rotation to re-align the mapping frame to the ground truth frame.

Original languageEnglish
Title of host publication2019 7th International Conference on Robot Intelligence Technology and Applications, RiTA 2019
PublisherIEEE, Institute of Electrical and Electronics Engineers
Pages125-129
Number of pages5
ISBN (Electronic)9781728131184
DOIs
Publication statusPublished - 2019
EventInternational Conference on Robot Intelligence Technology and Applications 2019 - Daejeon, Korea, Republic of (South)
Duration: 1 Nov 20193 Nov 2019
Conference number: 7th
https://ieeexplore.ieee.org/xpl/conhome/8929048/proceeding (Proceedings)

Conference

ConferenceInternational Conference on Robot Intelligence Technology and Applications 2019
Abbreviated titleRiTA 2019
CountryKorea, Republic of (South)
CityDaejeon
Period1/11/193/11/19
Internet address

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