Spherical terrain matching for SLAM in planet exploration

Haining Pan; Pingyuan Cui; Huan Wang

doi:10.1109/WCICA.2012.6359407

Spherical terrain matching for SLAM in planet exploration

Haining Pan^*, Pingyuan Cui, Huan Wang

^*Corresponding author for this work

School of Aerospace Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

This paper describes a scan matching algorithm for motion estimation near a planet surface using scanning laser scanner data in spherical coordinate. It is directly based on range finding data and followed by point to point terrain map alignment in the laser scanner's spherical coordinate system. Laser scan matching of current and reference scans are enhanced by weighted terrain and distortion compensation. It is also accelerated by predicted vision window using inner dynamic model and SLAM results. The algorithm is tested using data acquired within virtual OpenGL environment and proved to be efficient for scan matching with terrain distortion.

Original language	English
Title of host publication	WCICA 2012 - Proceedings of the 10th World Congress on Intelligent Control and Automation
Pages	4907-4911
Number of pages	5
DOIs	https://doi.org/10.1109/WCICA.2012.6359407
Publication status	Published - 2012
Event	10th World Congress on Intelligent Control and Automation, WCICA 2012 - Beijing, China Duration: 6 Jul 2012 → 8 Jul 2012

Publication series

Name	Proceedings of the World Congress on Intelligent Control and Automation (WCICA)

Conference

Conference	10th World Congress on Intelligent Control and Automation, WCICA 2012
Country/Territory	China
City	Beijing
Period	6/07/12 → 8/07/12

Keywords

laser scanner
scan matching
spherical coordinates

Access to Document

10.1109/WCICA.2012.6359407

Cite this

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title = "Spherical terrain matching for SLAM in planet exploration",

abstract = "This paper describes a scan matching algorithm for motion estimation near a planet surface using scanning laser scanner data in spherical coordinate. It is directly based on range finding data and followed by point to point terrain map alignment in the laser scanner's spherical coordinate system. Laser scan matching of current and reference scans are enhanced by weighted terrain and distortion compensation. It is also accelerated by predicted vision window using inner dynamic model and SLAM results. The algorithm is tested using data acquired within virtual OpenGL environment and proved to be efficient for scan matching with terrain distortion.",

keywords = "laser scanner, scan matching, spherical coordinates",

author = "Haining Pan and Pingyuan Cui and Huan Wang",

year = "2012",

doi = "10.1109/WCICA.2012.6359407",

language = "English",

isbn = "9781467313988",

series = "Proceedings of the World Congress on Intelligent Control and Automation (WCICA)",

pages = "4907--4911",

booktitle = "WCICA 2012 - Proceedings of the 10th World Congress on Intelligent Control and Automation",

note = "10th World Congress on Intelligent Control and Automation, WCICA 2012 ; Conference date: 06-07-2012 Through 08-07-2012",

}

Pan, H, Cui, P & Wang, H 2012, Spherical terrain matching for SLAM in planet exploration. in WCICA 2012 - Proceedings of the 10th World Congress on Intelligent Control and Automation., 6359407, Proceedings of the World Congress on Intelligent Control and Automation (WCICA), pp. 4907-4911, 10th World Congress on Intelligent Control and Automation, WCICA 2012, Beijing, China, 6/07/12. https://doi.org/10.1109/WCICA.2012.6359407

Spherical terrain matching for SLAM in planet exploration. / Pan, Haining; Cui, Pingyuan; Wang, Huan.
WCICA 2012 - Proceedings of the 10th World Congress on Intelligent Control and Automation. 2012. p. 4907-4911 6359407 (Proceedings of the World Congress on Intelligent Control and Automation (WCICA)).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

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AU - Pan, Haining

AU - Cui, Pingyuan

AU - Wang, Huan

PY - 2012

Y1 - 2012

N2 - This paper describes a scan matching algorithm for motion estimation near a planet surface using scanning laser scanner data in spherical coordinate. It is directly based on range finding data and followed by point to point terrain map alignment in the laser scanner's spherical coordinate system. Laser scan matching of current and reference scans are enhanced by weighted terrain and distortion compensation. It is also accelerated by predicted vision window using inner dynamic model and SLAM results. The algorithm is tested using data acquired within virtual OpenGL environment and proved to be efficient for scan matching with terrain distortion.

AB - This paper describes a scan matching algorithm for motion estimation near a planet surface using scanning laser scanner data in spherical coordinate. It is directly based on range finding data and followed by point to point terrain map alignment in the laser scanner's spherical coordinate system. Laser scan matching of current and reference scans are enhanced by weighted terrain and distortion compensation. It is also accelerated by predicted vision window using inner dynamic model and SLAM results. The algorithm is tested using data acquired within virtual OpenGL environment and proved to be efficient for scan matching with terrain distortion.

KW - laser scanner

KW - scan matching

KW - spherical coordinates

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U2 - 10.1109/WCICA.2012.6359407

DO - 10.1109/WCICA.2012.6359407

M3 - Conference contribution

AN - SCOPUS:84872310548

SN - 9781467313988

T3 - Proceedings of the World Congress on Intelligent Control and Automation (WCICA)

SP - 4907

EP - 4911

BT - WCICA 2012 - Proceedings of the 10th World Congress on Intelligent Control and Automation

T2 - 10th World Congress on Intelligent Control and Automation, WCICA 2012

Y2 - 6 July 2012 through 8 July 2012

ER -

Spherical terrain matching for SLAM in planet exploration

Abstract

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Conference

Keywords

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