ICP-SLAM methods implementation on a bi-steerable mobile robot

Scan matching is a popular way of recovering a mobile robot's motion and constitutes the basis of many localization and mapping approaches. The work presented in this paper consists in the implementation of a SLAM method (Simultaneous Localization and Mapping) based on the Iterative Closest Points (ICP) algorithm on the Robucar, a car-like mobile robot. Two variants are considered related to the error metric minimization. These variants of ICP-SLAM have been implemented and tested on the robot for performance's comparison.

[1]  Sebastian Thrun,et al.  FastSLAM: a factored solution to the simultaneous localization and mapping problem , 2002, AAAI/IAAI.

[2]  Timothée Jost,et al.  Fast Geometric Matching for Shape Registration , 2002 .

[3]  Wolfram Burgard,et al.  On the position accuracy of mobile robot localization based on particle filters combined with scan matching , 2012, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[4]  Aleksandr V. Segal,et al.  Generalized-ICP , 2009, Robotics: Science and Systems.

[5]  Rachid Alami,et al.  An Architecture for Autonomy , 1998, Int. J. Robotics Res..

[6]  J BeslPaul,et al.  A Method for Registration of 3-D Shapes , 1992 .

[7]  Hugh Durrant-Whyte,et al.  Simultaneous localization and mapping (SLAM): part II , 2006 .

[8]  Evangelos E. Milios,et al.  Robot Pose Estimation in Unknown Environments by Matching 2D Range Scans , 1994, 1994 Proceedings of IEEE Conference on Computer Vision and Pattern Recognition.

[9]  Christoph Stiller,et al.  Velodyne SLAM , 2011, 2011 IEEE Intelligent Vehicles Symposium (IV).

[10]  Gérard G. Medioni,et al.  Object modeling by registration of multiple range images , 1991, Proceedings. 1991 IEEE International Conference on Robotics and Automation.

[11]  Jae-Bok Song,et al.  Performance Improvement of Iterative Closest Point-Based Outdoor SLAM by Rotation Invariant Descriptors of Salient Regions , 2013, J. Intell. Robotic Syst..

[12]  Zhengyou Zhang,et al.  Iterative point matching for registration of free-form curves and surfaces , 1994, International Journal of Computer Vision.

[13]  Marc Levoy,et al.  Efficient variants of the ICP algorithm , 2001, Proceedings Third International Conference on 3-D Digital Imaging and Modeling.

[14]  Wolfram Burgard,et al.  Probabilistic Robotics (Intelligent Robotics and Autonomous Agents) , 2005 .

[15]  Tim Bailey,et al.  Scan segments matching for pairwise 3D alignment , 2012, 2012 IEEE International Conference on Robotics and Automation.

[16]  Sebastian Thrun,et al.  FastSLAM 2.0: an improved particle filtering algorithm for simultaneous localization and mapping that provably converges , 2003, IJCAI 2003.