6D SLAM with an application in autonomous mine mapping


To create with an autonomous mobile robot a 3D volumetric map of a scene it is necessary to gage several 3D scans and to merge them into one consistent 3D model. This paper provides a new solution to the simultaneous localization and mapping (SLAM) problem with six degrees of freedom. Robot motion on natural surfaces has to cope with yaw, pitch and roll… (More)
DOI: 10.1109/ROBOT.2004.1308117


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@article{Nchter20046DSW, title={6D SLAM with an application in autonomous mine mapping}, author={Andreas N{\"{u}chter and Hartmut Surmann and Kai Lingemann and Joachim Hertzberg and Sebastian Thrun}, journal={IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004}, year={2004}, volume={2}, pages={1998-2003 Vol.2} }