Map Management Approach for SLAM in Large-Scale Indoor and Outdoor Areas

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dc.identifier.uri http://dx.doi.org/10.15488/10360
dc.identifier.uri https://www.repo.uni-hannover.de/handle/123456789/10434
dc.contributor.author Ehlers, Simon F. G. eng
dc.contributor.author Stuede, Marvin eng
dc.contributor.author Nuelle, Kathrin eng
dc.contributor.author Ortmaier, Tobias eng
dc.date.accessioned 2021-02-04T06:36:05Z
dc.date.issued 2020
dc.identifier.citation Ehlers, Simon F.G.; Stuede, Marvin; Nuelle, Kathrin; Ortmaier, Tobias: Map Management Approach for SLAM in Large-Scale Indoor and Outdoor Areas. In: 2020 IEEE International Conference on Robotics and Automation (ICRA). Piscataway, NJ : IEEE, 2020, S. 9652-9658. DOI: https://dx.doi.org/10.1109/ICRA40945.2020.9196997 eng
dc.description.abstract This work presents a semantic map management approach for various environments by triggering multiple maps with different simultaneous localization and mapping (SLAM) configurations. A modular map structure allows to add, modify or delete maps without influencing other maps of different areas. The hierarchy level of our algorithm is above the utilized SLAM method. Evaluating laser scan data (e.g. the detection of passing a doorway) triggers a new map, automatically choosing the appropriate SLAM configuration from a manually predefined list. Single independent maps are connected by link-points, which are located in an overlapping zone of both maps, enabling global navigation over several maps. Loop- closures between maps are detected by an appearance-based method, using feature matching and iterative closest point (ICP) registration between point clouds. Based on the arrangement of maps and link-points, a topological graph is extracted for navigation purpose and tracking the global robot's position over several maps. Our approach is evaluated by mapping a university campus with multiple indoor and outdoor areas and abstracting a metrical-topological graph. It is compared to a single map running with different SLAM configurations. Our approach enhances the overall map quality compared to the single map approaches by automatically choosing predefined SLAM configurations for different environmental setups. eng
dc.language.iso eng eng
dc.publisher Piscataway, NJ, USA : Institute of Electrical and Electronics Engineers Inc.
dc.rights Es gilt deutsches Urheberrecht. Das Dokument darf zum eigenen Gebrauch kostenfrei genutzt, aber nicht im Internet bereitgestellt oder an Außenstehende weitergegeben werden. eng
dc.subject Simultaneous localization and mapping eng
dc.subject Lasers eng
dc.subject Navigation eng
dc.subject Feature extraction eng
dc.subject Three-dimensional displays eng
dc.subject.ddc 620 | Ingenieurwissenschaften und Maschinenbau eng
dc.title Map Management Approach for SLAM in Large-Scale Indoor and Outdoor Areas eng
dc.type conferenceObject eng
dc.type Text eng
dc.relation.doi 10.1109/ICRA40945.2020.9196997
dc.description.version acceptedVersion eng
tib.accessRights frei zug�nglich eng


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