3D FastSLAM algorithm with Kinect sensor

Hyunggi Jo, Sungjin Jo, Euntai Kim, Changyong Yoon, Sewoong Jun

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

1 Citation (Scopus)

Abstract

The FastSLAM is a fundamental algorithm for autonomous mobile robots Simultaneous Localization and Mapping (SLAM) problem. Until now, FastSLAM has been implemented in two-dimensional environment case and grid map is popular choice for constructing the map. This paper presents a new FastSLAM system to estimate the robot trajectory and reconstruct three-dimensional environments. This 3D FastSLAM algorithm uses both Rao-Blackwellized particle filtering and voxel map. Each scan of 3D range sensor provides accurate measurements likelihood using binary Bayes filter. We implemented the hardware system based on the Pioneer 2-DX platform equipped with one Microsoft Kinect sensor. The proposed method can be applied with any 3D range sensors and experimental results show that the proposed method builds a 3D OctoMap and estimates the robot's pose accurately.

Original languageEnglish
Title of host publication2014 Joint 7th International Conference on Soft Computing and Intelligent Systems, SCIS 2014 and 15th International Symposium on Advanced Intelligent Systems, ISIS 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages214-217
Number of pages4
ISBN (Electronic)9781479959556
DOIs
Publication statusPublished - 2014 Feb 18
Event2014 Joint 7th International Conference on Soft Computing and Intelligent Systems, SCIS 2014 and 15th International Symposium on Advanced Intelligent Systems, ISIS 2014 - Kitakyushu, Japan
Duration: 2014 Dec 32014 Dec 6

Publication series

Name2014 Joint 7th International Conference on Soft Computing and Intelligent Systems, SCIS 2014 and 15th International Symposium on Advanced Intelligent Systems, ISIS 2014

Other

Other2014 Joint 7th International Conference on Soft Computing and Intelligent Systems, SCIS 2014 and 15th International Symposium on Advanced Intelligent Systems, ISIS 2014
CountryJapan
CityKitakyushu
Period14/12/314/12/6

All Science Journal Classification (ASJC) codes

  • Software
  • Artificial Intelligence

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  • Cite this

    Jo, H., Jo, S., Kim, E., Yoon, C., & Jun, S. (2014). 3D FastSLAM algorithm with Kinect sensor. In 2014 Joint 7th International Conference on Soft Computing and Intelligent Systems, SCIS 2014 and 15th International Symposium on Advanced Intelligent Systems, ISIS 2014 (pp. 214-217). [7044862] (2014 Joint 7th International Conference on Soft Computing and Intelligent Systems, SCIS 2014 and 15th International Symposium on Advanced Intelligent Systems, ISIS 2014). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SCIS-ISIS.2014.7044862