Registering models is an essential building block of many robotic applications. In case of three-dimensional data, the models to be aligned usually consist of point clouds. In this letter, we propose a formalism to represent in a uniform manner scenes consisting of high-level geometric primitives,...
Simultaneous Localization and Mapping
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The ability to build maps is a key functionality for the majority of mobile robots. A central ingredient to most mapping systems is the registration or alignment of the recorded sensor data. In this paper, we present a general methodology for photometric registration that can deal with multiple...
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In this letter, we propose an approach for merging three-dimensional maps represented as pose graphs of point clouds. Our method can effectively deal with typical distortions affecting simultaneous localization and mapping-generated maps. Traditional map merging techniques that use a single rigid...
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In this paper we present ProSLAM, a lightweight open-source stereo visual SLAM system designed with simplicity in mind. This work stems from the experience gathered by the authors while teaching SLAM and aims at providing a highly modular system that can be easily implemented and understood. Rather...