Robust and Precise 3D SLAM at Low Computational Cost Using Laser Scanner and Camera Data

P. Frieling

Autonomous mobile robot applications require that the environment and the robot pose is precisely known. Currently, the GET Lab uses a height-map approach to map the environment and estimate the robot pose. This restricts the robot to only operate in an environment that can be mapped on a plane surface. To overcome this issue and allow autonomous operations in complex environments, the goal of this thesis is do develop a 3D localization and mapping system, which is designed to run on the rescue robot GETjag. Object detection as well as path planning in multi leveled environments should be supported by creating a colored 3d map of the environment. The new system has to run at real-time, keep resources free for other applications and may only use the existing sensors. Backwards compatibility must be ensured by offering a 2.5D map. For evaluation, the SLAM system will be tested in real world indoor and large urban outdoor environments at the Paderborn University.