Graph-based SLAM using wall detection and floor plan constraints without loop closure
Abstract This paper describes a graph-based SLAM approach using wall detection and floor plan constraints without relying on loop closure. In SLAM, loop closure is widely used to address cumulative errors. Although loop closure helps maintain the map’s relative consistency, it does not ensure the ac...
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| Format: | Article |
| Language: | English |
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SpringerOpen
2024-12-01
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| Series: | ROBOMECH Journal |
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| Online Access: | https://doi.org/10.1186/s40648-024-00285-z |
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| _version_ | 1841559333333106688 |
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| author | Masahiko Hoshi Yoshitaka Hara Sousuke Nakamura |
| author_facet | Masahiko Hoshi Yoshitaka Hara Sousuke Nakamura |
| author_sort | Masahiko Hoshi |
| collection | DOAJ |
| description | Abstract This paper describes a graph-based SLAM approach using wall detection and floor plan constraints without relying on loop closure. In SLAM, loop closure is widely used to address cumulative errors. Although loop closure helps maintain the map’s relative consistency, it does not ensure the accuracy of absolute positions. Therefore, we focus on floor plans that accurately depict the environmental geometry and propose a SLAM method that leverages this information. However, floor plans do not depict semi-static objects such as bookshelves and other fixtures. Thus, our study aims to build accurate maps based on floor plans and represent actual environments. The proposed method achieves this goal by integrating wall detection and floor plan constraints within the framework of graph-based SLAM. We evaluated the proposed method based on qualitative assessments of mapping results and quantitative evaluations of robot trajectories and processing time. Experiments were conducted using datasets obtained from both simulation and real-world environments. The results demonstrate that the proposed method can build a map with accurate absolute positions in a low processing time by leveraging wall detection and floor plan constraints. |
| format | Article |
| id | doaj-art-049b5bee7a6d45f9a4eb845b30f05dab |
| institution | Kabale University |
| issn | 2197-4225 |
| language | English |
| publishDate | 2024-12-01 |
| publisher | SpringerOpen |
| record_format | Article |
| series | ROBOMECH Journal |
| spelling | doaj-art-049b5bee7a6d45f9a4eb845b30f05dab2025-01-05T12:34:02ZengSpringerOpenROBOMECH Journal2197-42252024-12-0111111410.1186/s40648-024-00285-zGraph-based SLAM using wall detection and floor plan constraints without loop closureMasahiko Hoshi0Yoshitaka Hara1Sousuke Nakamura2Graduate School of Science and Engineering, Hosei UniversityFuture Robotics Technology Center (fuRo), Chiba Institute of TechnologyFaculty of Science and Engineering, Hosei UniversityAbstract This paper describes a graph-based SLAM approach using wall detection and floor plan constraints without relying on loop closure. In SLAM, loop closure is widely used to address cumulative errors. Although loop closure helps maintain the map’s relative consistency, it does not ensure the accuracy of absolute positions. Therefore, we focus on floor plans that accurately depict the environmental geometry and propose a SLAM method that leverages this information. However, floor plans do not depict semi-static objects such as bookshelves and other fixtures. Thus, our study aims to build accurate maps based on floor plans and represent actual environments. The proposed method achieves this goal by integrating wall detection and floor plan constraints within the framework of graph-based SLAM. We evaluated the proposed method based on qualitative assessments of mapping results and quantitative evaluations of robot trajectories and processing time. Experiments were conducted using datasets obtained from both simulation and real-world environments. The results demonstrate that the proposed method can build a map with accurate absolute positions in a low processing time by leveraging wall detection and floor plan constraints.https://doi.org/10.1186/s40648-024-00285-zGraph-based SLAMWall detectionFloor plan constraints |
| spellingShingle | Masahiko Hoshi Yoshitaka Hara Sousuke Nakamura Graph-based SLAM using wall detection and floor plan constraints without loop closure ROBOMECH Journal Graph-based SLAM Wall detection Floor plan constraints |
| title | Graph-based SLAM using wall detection and floor plan constraints without loop closure |
| title_full | Graph-based SLAM using wall detection and floor plan constraints without loop closure |
| title_fullStr | Graph-based SLAM using wall detection and floor plan constraints without loop closure |
| title_full_unstemmed | Graph-based SLAM using wall detection and floor plan constraints without loop closure |
| title_short | Graph-based SLAM using wall detection and floor plan constraints without loop closure |
| title_sort | graph based slam using wall detection and floor plan constraints without loop closure |
| topic | Graph-based SLAM Wall detection Floor plan constraints |
| url | https://doi.org/10.1186/s40648-024-00285-z |
| work_keys_str_mv | AT masahikohoshi graphbasedslamusingwalldetectionandfloorplanconstraintswithoutloopclosure AT yoshitakahara graphbasedslamusingwalldetectionandfloorplanconstraintswithoutloopclosure AT sousukenakamura graphbasedslamusingwalldetectionandfloorplanconstraintswithoutloopclosure |