Volume XL-3/W2
Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XL-3/W2, 59-64, 2015
https://doi.org/10.5194/isprsarchives-XL-3-W2-59-2015
© Author(s) 2015. This work is distributed under
the Creative Commons Attribution 3.0 License.
Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XL-3/W2, 59-64, 2015
https://doi.org/10.5194/isprsarchives-XL-3-W2-59-2015
© Author(s) 2015. This work is distributed under
the Creative Commons Attribution 3.0 License.

  10 Mar 2015

10 Mar 2015

TOWARDS GLOBALLY CONSISTENT SCAN MATCHINGWITH GROUND TRUTH INTEGRATION

J. Gailis and A. Nüchter J. Gailis and A. Nüchter
  • Informatics VII – Robotics and Telematics, Julius-Maximilians University Würzburg, Germany

Keywords: scan matching, SLAM, ground control point

Abstract. The scan matching based simultaneous localization and mapping method with six dimensional poses is capable of creating a three dimensional point cloud map of the environment, as well as estimating the six dimensional path that the vehicle has travelled. The essence of it is the registering and matching of sequentially acquired 3D laser scans, while moving along a path, in a common coordinate frame in order to provide 6D pose estimations at the respective positions, as well as create a three dimensional map of the environment. An approach that could drastically improve the reliability of acquired data is to integrate available ground truth information. This paper is about implementing such functionality as a contribution to 6D SLAM (simultaneous localization and mapping with 6 DoF) in the 3DTK – The 3D Toolkit software (Nüchter and Lingemann, 2011), as well as test the functionality of the implementation using real world datasets.