Real time loop closure in 2D LIDAR SLAM
Portable laser range finders, further referred to as LIDAR, and simultaneous localization and mapping (SLAM) are an efficient method of acquiring as built floor plans. Generating and visualizing floor plans in real time helps the operator assess the quality and coverage of capture data. Building a portable capture platform necessitates operating under limited computational resources. We present the approach used in our backpack mapping platform which achieves real time mapping and loop closure at a 5 cm resolution. To achieve realtime loop closure, we use a branch and bound approach for computing scan to submap matches as constraints. We provide experimental results and comparisons to other well known approaches which show that, in terms of quality, our approach is competitive with established techniques.
2016 IEEE International Conference on Robotics and Automation (ICRA)