Jochen Sprickerhof, Andreas Nüchter, Kai Lingemann, and Joachim Hertzberg. A Heuristic Loop Closing Technique for Large-Scale 6D SLAM. Automatika - Journal for Control, Measurement, Electronics, Computing and Communications, Special Issue with selected papers from the European Conference on Mobile Robots 2009. 2011
This paper presents a novel heuristic for correcting scan pose estimations after loop closing in SLAM using 3D laser scans. Contrary to state of the art approaches, the built SLAM graph is sparse, and optimization is done without any iteration between the SLAM front and back end, yielding a highly efficient loop closing method.
Several experiments were carried out in an urban environment and evaluated against ground truth. The results are compared to other state of the art algorithms, proving the high quality, yet achieved faster by an order of magnitude.
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