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3D LiDAR기반 그래프SLAM 구현을 위한 누적 키프레임 검출 방법
양은성(Eun-Sung Yang),김곤우(Gon-Woo Kim) 제어로봇시스템학회 2017 제어·로봇·시스템학회 논문지 Vol.23 No.3
In this paper, we propose a robust key frame extraction method using 3D LiDAR point cloud information for GraphSLAM. Key frame extraction is a very important issue for obtaining correlation between nodes in GraphSLAM. However, the 3D LiDAR point cloud information obtained from one frame does not have enough information to be used as a key frame. We calculate the amount of information through the features extracted from the point cloud information and accumulate frames until the enough information has been acquired to solve this problem. Through these processes, a key frame has been detected with sufficient information for use in GraphSLAM. We show that more accurate maps can be obtained using the proposed method by comparing the performance with the existing algorithm using Tracking and Mapping through experimentation.