ICP-SLAM

     Iterative Closest Point-based Simultaneous Localization and Mapping (ICP-SLAM)

• Researchers

  • Yong-Ju Lee (Ph.D. )

• Period of research

  • 2009. 4. ~ 2011. 1.

• Research Background

  • Environmental models provide information to conduct other navigation tasks such as localization and path planning.

  • Difficulty in dealing with complex and large-sized 3-D information.

• Research Objectives

  • Outdoor environmental modeling

  • Efficient and accurate 3-D modeling

  • Loop closing for mapping of large-scale environments

• Research Output

                                                         Fig. 1 2.5-D and 3-D mapping

                                                                                  Fig. 2 Three dimensional (3-D) map matching   

                                                                     Fig. 3 Outdoor environmental model constructed by SLAM algorithm

• • Demo Movie   

• • Paper 1 :  Yong-Ju Lee, Yonghoon Ji, Jae-Bok Song, Sang-Hyun Joo, Performance Improvement of ICP-based Outdoor SLAM Using Terrain Classification, Proc. of International Conference on Advanced Mechatronics 2010, 2010.10. 

• • Paper 2 :  Yong-Ju Lee, Jae-Bok Song, Three-dimensional iterative closest point-based outdoor SLAM using terrain classification, Intelligent Service Robotics, Vol. 4, No. 2, pp. 147-158, 2011.04. 

* Last updated: 2012. 4. 30.