Exploration Without Global Consistency Using Local Volume Consolidation
International Symposium on Robotics Research (ISRR), Hanoi, 2019 In exploration, the goal is to build a map of an unknown environment. Most state-of-the-art approaches use map representations that require drift-free state estimates to function properly. Real-world state estimators, however, exhibit...
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Zusammenfassung: | International Symposium on Robotics Research (ISRR), Hanoi, 2019 In exploration, the goal is to build a map of an unknown environment. Most
state-of-the-art approaches use map representations that require drift-free
state estimates to function properly. Real-world state estimators, however,
exhibit drift. In this paper, we present a 2D map representation for
exploration that is robust to drift. Rather than a global map, it uses local
metric volumes connected by relative pose estimates. This pose-graph does not
need to be globally consistent. Overlaps between the volumes are resolved
locally, rather than on the faulty estimate of space. We demonstrate our
representation with a frontier-based exploration approach, evaluate it under
different conditions and compare it with a commonly-used grid-based
representation. We show that, at the cost of longer exploration time, using the
proposed representation allows full coverage of space even for very large drift
in the state estimate, contrary to the grid-based representation. The system is
validated in a real world experiment and we discuss its extension to 3D. |
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DOI: | 10.48550/arxiv.1909.01423 |