English

SLAM using ICP and graph optimization considering physical properties of environment

Robotics 2020-07-02 v1 Computation
Authors: Ryuki Suzuki , Ryosuke Kataoka , Yonghoon Ji , Hiromitsu Fujii , Hitoshi Kono , Kazunori Umeda
View on arXiv ↗ PDF ↗

Abstract

This paper describes a novel SLAM (simultaneous localization and mapping) scheme based on scan matching in an environment including various physical properties.

Keywords

simultaneous localization and mapping

Cite

@article{arxiv.2007.00483,
  title  = {SLAM using ICP and graph optimization considering physical properties of environment},
  author = {Ryuki Suzuki and Ryosuke Kataoka and Yonghoon Ji and Hiromitsu Fujii and Hitoshi Kono and Kazunori Umeda},
  journal= {arXiv preprint arXiv:2007.00483},
  year   = {2020}
}

Comments

5 pages, 11 figures

Related papers

View all related →
Robotics · Computer Science
Intensity-SLAM: Intensity Assisted Localization and Mapping for Large Scale Environment
Han Wang, Chen Wang, Lihua Xie
2021-02-18
Robotics · Computer Science
Simultaneous Localization and Mapping (SLAM) using RTAB-MAP
Sagarnil Das
2018-09-11
Robotics · Computer Science
Monocular Simultaneous Localization and Mapping using Ground Textures
Kyle M. Hart, Brendan Englot, Ryan P. O'Shea, John D. Kelly +1
2023-03-13
Robotics · Computer Science
RadarSLAM: Radar based Large-Scale SLAM in All Weathers
Ziyang Hong, Yvan Petillot, Sen Wang
2020-05-06
Computer Vision and Pattern Recognition · Computer Science
Navigating the Landscape for Real-time Localisation and Mapping for Robotics and Virtual and Augmented Reality
Sajad Saeedi, Bruno Bodin, Harry Wagstaff, Andy Nisbet +22
2018-08-21
Robotics · Computer Science
Simultaneous Localization and Mapping with Dynamic Rigid Objects
Mina Henein, Gerard Kennedy, Viorela Ila, Robert Mahony
2018-05-11
Robotics · Computer Science
Advances in Inference and Representation for Simultaneous Localization and Mapping
David M. Rosen, Kevin J. Doherty, Antonio Teran Espinoza, John J. Leonard
2021-03-10
Systems and Control · Electrical Eng. & Systems
Simultaneous Localization and Mapping: Through the Lens of Nonlinear Optimization
Amay Saxena, Chih-Yuan Chiu, Joseph Menke, Ritika Shrivastava +1
2022-08-05
Robotics · Computer Science
Graph-based Global Robot Simultaneous Localization and Mapping using Architectural Plans
Muhammad Shaheer, Jose Andres Millan-Romera, Hriday Bavle, Jose Luis Sanchez-Lopez +2
2023-05-17
Robotics · Computer Science
STAMICS: Splat, Track And Map with Integrated Consistency and Semantics for Dense RGB-D SLAM
Yongxu Wang, Xu Cao, Weiyun Yi, Zhaoxin Fan
2025-03-28
Robotics · Computer Science
SLAM Backends with Objects in Motion: A Unifying Framework and Tutorial
Chih-Yuan Chiu
2023-03-07
Robotics · Computer Science
Past, Present, and Future of Simultaneous Localization And Mapping: Towards the Robust-Perception Age
Cesar Cadena, Luca Carlone, Henry Carrillo, Yasir Latif +4
2017-01-31
Computer Vision and Pattern Recognition · Computer Science
SLAM with Objects using a Nonparametric Pose Graph
Beipeng Mu, Shih-Yuan Liu, Liam Paull, John Leonard +1
2017-04-21
Robotics · Computer Science
Simultaneous Localisation and Mapping with Quadric Surfaces
Tristan Laidlow, Andrew J. Davison
2022-03-16
Computer Vision and Pattern Recognition · Computer Science
RGBD GS-ICP SLAM
Seongbo Ha, Jiung Yeon, Hyeonwoo Yu
2024-03-25
Computer Vision and Pattern Recognition · Computer Science
ICP Algorithm: Theory, Practice And Its SLAM-oriented Taxonomy
Hao Bai
2023-05-02
Robotics · Computer Science
GPL-SLAM: A Laser SLAM Framework with Gaussian Process Based Extended Landmarks
Ali Emre Balcı, Erhan Ege Keyvan, Emre Özkan
2025-08-25
Robotics · Computer Science
Simultaneous Localization and Layout Model Selection in Manhattan Worlds
Armon Shariati, Bernd Pfrommer, Camillo J. Taylor
2019-01-23
Robotics · Computer Science
Cartographer_glass: 2D Graph SLAM Framework using LiDAR for Glass Environments
Lasitha Weerakoon, Gurtajbir Singh Herr, Jasmine Blunt, Miao Yu +1
2022-12-19
Robotics · Computer Science
PathSpace: Rapid continuous map approximation for efficient SLAM using B-Splines in constrained environments
Aduen Benjumea, Andrew Bradley, Alexander Rast, Matthias Rolf
2026-03-20
Robotics · Computer Science
Generative Simultaneous Localization and Mapping (G-SLAM)
Nikos Zikos, Vassilios Petridis
2016-07-19
Robotics · Computer Science
PAS-SLAM: A Visual SLAM System for Planar Ambiguous Scenes
Xinggang Hu, Yanmin Wu, Mingyuan Zhao, Linghao Yang +2
2024-02-15
Robotics · Computer Science
Probabilistic Qualitative Localization and Mapping
Roee Mor, Vadim Indelman
2023-02-20
Robotics · Computer Science
Predicting Performance of SLAM Algorithms
Matteo Luperto, Valerio Castelli, Francesco Amigoni
2021-09-07
Robotics · Computer Science
Visual Localization and Mapping in Dynamic and Changing Environments
João Carlos Virgolino Soares, Vivian Suzano Medeiros, Gabriel Fischer Abati, Marcelo Becker +3
2022-09-23
R2 v1 2026-06-23T16:46:12.039Z