Real-Time Updatable Globally Consistent 3D Grid Mapping
YI Xiaodong1,2, YANG Sining1, YANG Shaowu1
1.Artificial Intelligent Research Center, National Innovation Institute of Defense Technology, Beijing 100071
2.College of Computer and Technology, National University of Defense Technology, Changsha, 410073
A real time globally consistent three-dimensional(3D) grid mapping method is usually required for autonomous navigation of mobile robots in complex unknown 3D environments. Grid maps built by the existing simultaneous localization and mapping(SLAM) system are inconsistent with environments due to the lack of updating strategy. In this paper, information of environment provided by SLAM module are processed by the grid mapping module. A real-time updating strategy and an efficient data structure based on keyframe are proposed to produce globally consistent 3D maps and they are suitable for real time navigation of robots. Experimental results in dynamic indoor scenarios demonstrate that the 3D mapping method can update map in real time and build globally consistent 3D grid map to support the autonomous navigation.
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2019, Vol. 32 
