This work presents a semantic map management approach for various environments by triggering multiple maps with different simultaneous localization and mapping (SLAM) configurations. A modular map structure allows to add, modify or delete maps without influencing other maps of different areas. The hierarchy level of our algorithm is above the utilized SLAM method. Evaluating laser scan data (e.g. the detection of passing a doorway) triggers a new map, automatically choosing the appropriate SLAM configuration from a manually predefined list. Single independent maps are connected by link-points, which are located in an overlapping zone of both maps, enabling global navigation over several maps. Loop- closures between maps are detected by an appearance-based method, using feature matching and iterative closest point (ICP) registration between point clouds. Based on the arrangement of maps and link-points, a topological graph is extracted for navigation purpose and tracking the global robot's position over several maps. Our approach is evaluated by mapping a university campus with multiple indoor and outdoor areas and abstracting a metrical-topological graph. It is compared to a single map running with different SLAM configurations. Our approach enhances the overall map quality compared to the single map approaches by automatically choosing predefined SLAM configurations for different environmental setups.


    Access

    Download


    Export, share and cite



    Title :

    Map Management Approach for SLAM in Large-Scale Indoor and Outdoor Areas


    Contributors:

    Publication date :

    2020-01-01



    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629 / 620



    A Lightweight LiDAR SLAM in Indoor-Outdoor Switch Environments

    Zhang, Geng / Yang, Chao / Wang, Weida et al. | IEEE | 2022



    Graphical SLAM for Outdoor Applications

    Folkesson, J. / Christensen, H. I. | British Library Online Contents | 2007


    D3VIL-SLAM: 3D Visual Inertial LiDAR SLAM for Outdoor Environments

    Frosi, Matteo / Matteucci, Matteo | IEEE | 2023


    6D SLAM-3D mapping outdoor environments

    Nuchter, A. / Lingemann, K. / Hertzberg, J. et al. | British Library Online Contents | 2007