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dc.contributor.authorCERIANI SIMONEen_GB
dc.contributor.authorSANCHEZ BELENGUER CARLOSen_GB
dc.contributor.authorTADDEI PIERLUIGIen_GB
dc.contributor.authorWOLFART Eriken_GB
dc.contributor.authorSEQUEIRA Vitoren_GB
dc.date.accessioned2015-12-17T01:13:48Z-
dc.date.available2015-12-16en_GB
dc.date.available2015-12-17T01:13:48Z-
dc.date.created2015-11-26en_GB
dc.date.issued2015en_GB
dc.date.submitted2014-10-27en_GB
dc.identifier.isbn978-1-4799-9993-4en_GB
dc.identifier.issn2153-0866en_GB
dc.identifier.urihttp://publications.jrc.ec.europa.eu/repository/handle/JRC92351-
dc.description.abstractPrecise 3D mapping and 6DOF trajectory estimation using exteroceptive sensors are key problems in many fields. Real-time moving laser sensors gained popularity due to their precise depth measurements, high frame rate and large field of view.We propose an optimization framework for Simultaneous Localization And Mapping that properly models the acquisition process in a scanning-while-moving scenario. Each measurement is correctly reprojected in the map reference frame by considering a continuous time trajectory which is defined as the linear interpolation of a discrete set of control poses in SE3. We also employ an efficient data structure that makes use of a hybrid sparse voxelized representation, allowing large map management. Thanks to this we are also able to perform global optimization over trajectories, resetting the accumulated drift when loops are performed. We experimentally show that such framework improves localization and mapping w.r.t. solutions that compensate the distortion effects without including them in the optimization step. Moreover, we show that the proposed data structure provides linear or constant operations time w.r.t. the map size in order to perform real time SLAM and handles very large maps.en_GB
dc.description.sponsorshipJRC.E.8-Nuclear securityen_GB
dc.format.mediumPrinteden_GB
dc.languageENGen_GB
dc.publisherIEEEen_GB
dc.relation.ispartofseriesJRC92351en_GB
dc.titlePose Interpolation SLAM for large maps using moving 3D Sensorsen_GB
dc.typeArticles in periodicals and booksen_GB
JRC Directorate:Nuclear Safety and Security

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