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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 1Yong-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 2Yong-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.