Histogram matching and global initialization for laser-only SLAM in large unstructured environments

Bosse, Michael & Roberts, Jonathan M. (2007) Histogram matching and global initialization for laser-only SLAM in large unstructured environments. In Amato, Nancy, Chiaverini, Stefano, Ikeuchi, Katsushi, Kosuge, Kazuhiro, Nebot, Eduardo, Papanikolopoulos, Nikos, et al. (Eds.) Proceedings of the 2007 IEEE Conference on Robotics and Automation, IEEE, Rome, Italy, pp. 4820-4729.

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This paper presents an enhanced algorithm for matching laser scan maps using histogram correlations. The histogram representation effectively summarizes a map's salient features such that pairs of maps can be matched efficiently without any prior guess as to their alignment. The histogram matching algorithm has been enhanced in order to work well in outdoor unstructured environments by using entropy metrics, weighted histograms and proper thresholding of quality metrics. Thus our large-scale scan-matching SLAM implementation has a vastly improved ability to close large loops in real-time even when odometry is not available. Our experimental results have demonstrated a successful mapping of the largest area ever mapped to date using only a single laser scanner. We also demonstrate our ability to solve the lost robot problem by localizing a robot to a previously built map without any prior initialization.

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19 citations in Scopus
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13 citations in Web of Science®

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ID Code: 82535
Item Type: Conference Paper
Refereed: Yes
Keywords: Scan matching, SLAM, Closing the loop
DOI: 10.1109/ROBOT.2007.364222
ISBN: 1424406013
ISSN: 1050-4729
Divisions: Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
Copyright Owner: Copyright 2007 by IEEE
Deposited On: 17 Mar 2015 22:24
Last Modified: 19 Mar 2015 02:55

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