The Abstracts of the international conference on advanced mechatronics : toward evolutionary fusion of IT and mechatronics : ICAM
Online ISSN : 2424-3116
2010.5
Conference information
Performance Improvement of ICP-based Outdoor SLAM Using Terrain Classification
Yong-Ju LeeYong-Hoon JiJae-Bok SongSang-Hyun Joo
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CONFERENCE PROCEEDINGS FREE ACCESS

Pages 243-246

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Abstract
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 outdoor SLAM.
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© 2010 The Japan Society of Mechanical Engineers
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