OctoMap: An efficient probabilistic 3D mapping framework based on octrees
Three-dimensional models provide a volumetric representation of space which is important
for a variety of robotic applications including flying robots and robots that are equipped with …
for a variety of robotic applications including flying robots and robots that are equipped with …
[PDF][PDF] OctoMap: A probabilistic, flexible, and compact 3D map representation for robotic systems
In this paper, we present an approach for mod-eling 3D environments based on octrees
using a probabilistic occupancy estimation. Our technique is able to represent full 3D …
using a probabilistic occupancy estimation. Our technique is able to represent full 3D …
On measuring the accuracy of SLAM algorithms
In this paper, we address the problem of creating an objective benchmark for evaluating
SLAM approaches. We propose a framework for analyzing the results of a SLAM approach …
SLAM approaches. We propose a framework for analyzing the results of a SLAM approach …
Nonlinear constraint network optimization for efficient map learning
G Grisetti, C Stachniss… - IEEE Transactions on …, 2009 - ieeexplore.ieee.org
Learning models of the environment is one of the fundamental tasks of mobile robots since
maps are needed for a wide range of robotic applications, such as navigation and …
maps are needed for a wide range of robotic applications, such as navigation and …
A comparison of SLAM algorithms based on a graph of relations
In this paper, we address the problem of creating an objective benchmark for comparing
SLAM approaches. We propose a framework for analyzing the results of SLAM approaches …
SLAM approaches. We propose a framework for analyzing the results of SLAM approaches …
Update policy of dense maps: Efficient algorithms and sparse representation
Providing a robot with a fully detailed map is one appealing key for the Simultaneous
Localisation and Mapping (SLAM) problem. It gives the robot a lot of hints to solve either the …
Localisation and Mapping (SLAM) problem. It gives the robot a lot of hints to solve either the …
Space-carving kernels for accurate rough terrain estimation
Accurate terrain estimation is critical for autonomous offroad navigation. Reconstruction of a
three-dimensional (3D) surface allows rough and hilly ground to be represented, yielding …
three-dimensional (3D) surface allows rough and hilly ground to be represented, yielding …
Accurate rough terrain estimation with space-carving kernels.
Accurate terrain estimation is critical for autonomous offroad navigation. Reconstruction of a
3D surface allows rough and hilly ground to be represented, yielding faster driving and …
3D surface allows rough and hilly ground to be represented, yielding faster driving and …
Dct maps: Compact differentiable lidar maps based on the cosine transform
A Schaefer, L Luft, W Burgard - IEEE Robotics and Automation …, 2018 - ieeexplore.ieee.org
Most robot mapping techniques for lidar sensors tessellate the environment into pixels or
voxels and assume uniformity of the environment within them. Although intuitive, this …
voxels and assume uniformity of the environment within them. Although intuitive, this …
Fast and accurate environment modeling using three-dimensional occupancy grids
Building a dense and accurate environment model out of range image data faces problems
like sensor noise, extensive memory consumption or computation time. We present an …
like sensor noise, extensive memory consumption or computation time. We present an …