Benchmarking urban six-degree-of-freedom simultaneous localization and mapping

Benchmarking urban six-degree-of-freedom simultaneous localization and mapping

Quite a number of approaches for solving the simultaneous localization and mapping (SLAM) problem exist by now. Some of them have recently been extended to mapping environments with six-degree-of-freedom poses, yielding 6D SLAM approaches. To demonstrate the capabilities of the respective algorithms, it is common practice to present generated maps and successful loop closings in large outdoor e...

3D Robotic Mapping - The Simultaneous Localization and Mapping Problem with Six Degrees of Freedom

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Six Degree of Freedom Point Correspondences

In this paper we develop the best homogeneous matrix transformation to fit two streams of dynamic six degree of freedom (6DOF) data. In particular, we compare object position and orientation results from two 6DOF sources. A problem that arises when comparing these two data streams is that they are not necessarily in the same coordinate system. Therefore, a method to transform one coordinate sys...

Simultaneous Localization and Mapping

Simultaneous Localization and Mapping

The last few years have seen the implementation of autonomous systems in industrial applications that operate in a reliable and consistent manner in areas such as stevedoring, mining, agriculture and a variety of indoor applications. To solve the localisation problem, these systems make use of either absolute information such as GPS, beacons at known positions or available maps of the environme...