Abstract
6D SLAM (Simultaneous Localization and Mapping) or
6D Concurrent Localization and Mapping of mobile
robots considers six dimensions for the robot pose,
namely, the x, y and z coordinates and the roll, yaw
and pitch angles. Robot motion and localization on
natural surfaces, e.g., driving with a mobile robot
outdoor, must regard these degrees of freedom. This
paper presents a robotic mapping method based on
locally consistent 3D laser range scans. Scan
matching, combined with a heuristic for closed loop
detection and a global relaxation method, results in
a highly precise mapping system for outdoor
environments. The mobile robot Kurt3D was used to
acquire data of the Schloss Birlinghoven campus. The
resulting 3D map is compared with ground truth,
given by an aerial photograph.
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