Damon Kohler
Damon is tech lead of Google's Cloud Robotics team in Munich and founder of Cartographer, an open source, real-time simultaneous localization and mapping (SLAM) library in 2D and 3D with ROS support. He has also founded two other significant open source projects: rosjava and SL4A.
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Real-Time Loop Closure in 2D LIDAR SLAM
Wolfgang Hess
Holger Rapp
2016 IEEE International Conference on Robotics and Automation (ICRA), pp. 1271-1278
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Portable laser range-finders, further referred to as LIDAR, and simultaneous localization and mapping (SLAM) are an efficient method of acquiring as-built floor plans. Generating and visualizing floor plans in real-time helps the operator assess the quality and coverage of capture data. Building a portable capture platform necessitates operating under limited computational resources. We present the approach used in our backpack mapping platform which achieves real-time mapping and loop closure at a 5 cm resolution. To achieve real-time loop closure, we use a branch-and-bound approach for computing scan-to-submap matches as constraints. We provide experimental results and comparisons to other well known approaches which show that, in terms of quality, our approach is competitive with established techniques.
IEEE-copyrighted article, http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7487258
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