Skip to Main content Skip to Navigation
Conference papers

A Real-Time Robust SLAM for Large-Scale Outdoor Environments

Abstract : The problem of simultaneous localization and mapping (SLAM) is still a challenging issue in large-scale unstructured dynamic environments. In this paper, we introduce a real-time reliable SLAM solution with the capability of closing the loop using exclusive laser data. In our algorithm, a universal motion model is presented for initial pose estimation. To further refine robot pose, we propose a novel progressive refining strategy using a pyramid grid-map based on Maximum Likelihood mapping framework. We demonstrate the success of our algorithm in experimental result by building a consistent map along a 1.2 km loop trajectory (an area about 100,000 m2) in an increasingly unstructured outdoor environment, with people and other clutter in real time.
Complete list of metadata

Cited literature [16 references]  Display  Hide  Download
Contributor : Fawzi Nashashibi Connect in order to contact the contributor
Submitted on : Friday, October 29, 2010 - 5:05:29 PM
Last modification on : Friday, February 4, 2022 - 3:13:44 AM
Long-term archiving on: : Sunday, January 30, 2011 - 2:40:21 AM


Files produced by the author(s)



Jianping Xie, Fawzi Nashashibi, Michel Null Parent, Olivier Garcia-Favrot. A Real-Time Robust SLAM for Large-Scale Outdoor Environments. 17th ITS world congress (ITSwc'2010), Oct 2010, Busan, South Korea. pp.S_EU00913, ⟨10.1028/ITS.SLAM.Nashashibi⟩. ⟨hal-00530383⟩



Record views


Files downloads