SLAM using ICP and graph optimization considering physical properties of environment

Ryuki Suzuki,Ryosuke Kataoka,Yonghoon Ji,Hiromitsu Fujii,Hitoshi Kono,Kazunori Umeda

SLAM using ICP and graph optimization considering physical properties of environment

2020

Ryuki Suzuki
Ryosuke Kataoka
Yonghoon Ji
Hiromitsu Fujii
Hitoshi Kono
Kazunori Umeda

This paper describes a novel SLAM (simultaneous localization and mapping) scheme based on scan matching in an environment including various physical properties.

Keywords:

Simultaneous localization and mapping
graph optimization
Engineering
Control engineering
Algorithm

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