Performance Improvement of ICP-based Outdoor SLAM Using Terrain Classification

@inproceedings{Lee2010PerformanceIO,
  title={Performance Improvement of ICP-based Outdoor SLAM Using Terrain Classification},
  author={Yong-Ju Lee and Yonghoon Ji and Jae-Bok Song and Sanghyun Joo},
  year={2010}
}
This research deals with outdoor SLAM based on local elevation map matching and proposes a new terrain classification method for efficient map matching. The main map used for outdoor SLAM is an elevation map which consists of 2-D grids with elevation information on each cell. 3-D environmental data acquired by tilting a 2-D laser scanner are used to build a local elevation map and classify the local terrain. The experimental results show that the proposed method can enhance performance of… CONTINUE READING

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