Intelligent Robotics

Lecture 17

Heoncheol Lee

Kumoh National Institute of Technology

Autonomous Intelligent Systems Lab. http://aisl.kumoh.ac.kr
 [ Term Project ]

Implementation of a Scan Matching Algorithm

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 Review
What is Scan Matching?

To find a transformation which align a reference scan and a current scan maximally

< Before scan matching > < After scan matching >

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 Review
Scan Matching Algorithms
ICP (Iterative Closest Points)
https://en.wikipedia.org/wiki/Iterative_closest_point

HSM (Hough Scan Matching)

https://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.83.3966&rep=rep1&type=pdf

PSM (Polar Scan Matching)

https://ieeexplore.ieee.org/document/1545181

NDT (Normal Distribution Transform)

https://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.10.7059&rep=rep1&type=pdf

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 Term Project
Goal
Implementing a scan matching algorithm

Development Environment
MATLAB
Given m-file format
Given LIDAR datasets to test your own algorithm

Implementation
You can use or modify the existing scan matching algorithms.
You can refer to open sources as long as you provide the reference link.
Do not use the scan matching function which MATLAB provides.

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 M-file Format
Data Loading

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 M-file Format
Setup

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 M-file Format
Scan Matching Algorithm

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 M-file Format
Results

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 Examples
scanData1.mat

< Fail > < Success >

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 Examples
scanData2.mat

< Fail > < Success >

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 Examples
scanData3.mat

< Fail > < Success >

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 Examples
scanData4.mat

< Fail > < Success >

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 To be Submitted
M-file with comments

Presentation File (PPT or PDF)

Overview of your scan matching algorithm
Detailed description for your scan matching algorithm
Graphical results
Quantitative results
Analysis and conclusions

Video Recording (mp4)

Video recording with your PPT file
Presenter's face does not have to be included in video presentation. (PPT slides plus
voice recording are enough for video presentation.)
Language: English
Duration : 4~5 minutes
The videos will be presented through LMS.

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 Evaluation
Quantitative Evaluation (25 points)
If the difference between your scan matching result and the true values is below a thres
hold, then it is regarded as success which means you can get the assigned points for ea
ch dataset. If not, it is regarded as fail (0 point).

Assigned points
5 points for the given scanData1.mat
5 points for the given scanData2.mat
5 points for the given scanData3.mat
5 points for the given scanData4.mat
5 points for the dataset which is not given

Qualitative Evaluation (5 points)

Ideas and analysis for your scan matching algorithm are evaluated.

Caution
Anyone who cheated will be given 0 points.

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 Acknowledgements
Thrun, Burgard, Fox’s Book
Probabilistic Robotics, MIT Press, 2005, website

Springer Handbook on Robotics

Chapter on Simultaneous Localization and Mapping

Cyrill Stachniss’s Lecture Notes

http://ais.informatik.uni-freiburg.de/teaching/ws13/mapping/

Papers
My papers on SLAM (https://sites.google.com/site/heonclee/publications)
Montemerlo, Thrun, Kollar, Wegbreit: FastSLAM: A Factored Solution to the
Simultaneous Localization and Mapping Problem, 2002.
Grisetti, Stachniss, Burgard: Improved Techniques for Grid Mapping with Rao-
Blackwellized Particle Filters, 2007.
Grisetti, Kuemmerle, Stachniss, Burgard: A Tutorial on Graph-Based SLAM, 2010.
…

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 Thank you for your attention.

Autonomous Intelligence System Lab (AISL)

http://aisl.kumoh.ac.kr

Autonomous Intelligent Systems Lab.