simultaneous localization and mapping VIII- relocalization

This video shows laser scanner based Simultaneous Localization And Mapping (SLAM), followed by a relocalization. The first part shows a slow moving electric vehicle in an outdoor environment that creates a map of the environment in real time. The vehicle is equipped only with two ibeo laser scanners and nothing else since this particular SLAM technique requires no other sensors nor requires any mathematical model of the vehicle. Once the map has been created, we define a trajectory in it, after what we place the vehicle anywhere on the map and it performs relocalization in order to know where it is. Once it has found its initial position within the map, all following localization is done using the same algorithm used for creating the initial map with the difference that now the map is not updated with new scans. Once relocalization is done(we see the reference map appear in the video) then the vehicle follows the defined trajectory automatically, the only sensors used for both localization and control are the ibeo laser scanners.

Category:

Science & Technology

Tags:

• slam
• relocalization
• robot
• outdoor
• street
• environment
• localization
• mapping
• simultaneous
• exploration
• laser
• scanner
• lidar
• ibeo
• hokuyo
• autonomous
• navigation
• vehicles
• mobile
• robotics
• survey
• SRI
• karto
• SDK