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Sensors
Volume 21
Issue 16
10.3390/s21165340
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Communication

Graph SLAM Built over Point Clouds Matching for Robot Localization in Tunnels

by
Carlos Prados Sesmero
*,
Sergio Villanueva Lorente
and
Mario Di Castro
Mechatronics, Robotics and Operations (SMM-EN-MRO), European Organization for Nuclear Research, 1217 Meyrin, Switzerland
*
Author to whom correspondence should be addressed.
Sensors 2021, 21(16), 5340; https://doi.org/10.3390/s21165340
Submission received: 15 July 2021 / Revised: 29 July 2021 / Accepted: 3 August 2021 / Published: 7 August 2021
(This article belongs to the Special Issue Navigation and Perception Sensors and Systems for Robots, Autonomous Vehicles, and Wearable Technology)
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Abstract

This paper presents a fully original algorithm of graph SLAM developed for multiple environments—in particular, for tunnel applications where the paucity of features and the difficult distinction between different positions in the environment is a problem to be solved. This algorithm is modular, generic, and expandable to all types of sensors based on point clouds generation. The algorithm may be used for environmental reconstruction to generate precise models of the surroundings. The structure of the algorithm includes three main modules. One module estimates the initial position of the sensor or the robot, while another improves the previous estimation using point clouds. The last module generates an over-constraint graph that includes the point clouds, the sensor or the robot trajectory, as well as the relation between positions in the trajectory and the loop closures.
Keywords: calibration; environmental reconstruction; graph SLAM; point cloud; registration; robot surveillance; robotic platform; self location calibration; environmental reconstruction; graph SLAM; point cloud; registration; robot surveillance; robotic platform; self location

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MDPI and ACS Style

Prados Sesmero, C.; Villanueva Lorente, S.; Di Castro, M. Graph SLAM Built over Point Clouds Matching for Robot Localization in Tunnels. Sensors 2021, 21, 5340. https://doi.org/10.3390/s21165340

AMA Style

Prados Sesmero C, Villanueva Lorente S, Di Castro M. Graph SLAM Built over Point Clouds Matching for Robot Localization in Tunnels. Sensors. 2021; 21(16):5340. https://doi.org/10.3390/s21165340

Chicago/Turabian Style

Prados Sesmero, Carlos, Sergio Villanueva Lorente, and Mario Di Castro. 2021. "Graph SLAM Built over Point Clouds Matching for Robot Localization in Tunnels" Sensors 21, no. 16: 5340. https://doi.org/10.3390/s21165340

APA Style

Prados Sesmero, C., Villanueva Lorente, S., & Di Castro, M. (2021). Graph SLAM Built over Point Clouds Matching for Robot Localization in Tunnels. Sensors, 21(16), 5340. https://doi.org/10.3390/s21165340

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