Planar Features for Accurate Laser-Based 3-D SLAM in Urban Environments

Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 1196)


Simultaneous Localization and Mapping (SLAM) systems using 3-D laser data typically represent the map as an unstructured point cloud, which is inefficient in data association and does not allow one to use the map for reasoning about the observed scene. In this paper we describe a laser-based SLAM system that represents the map as a collection of 3-D planar and line segments, which provide a natural way of representing man-made environments. We demonstrate that this representation improves the accuracy of trajectory estimation and makes it possible to represent major objects as geometric shapes.


Autonomous driving SLAM LiDAR 3D map Planar features 



This work was funded by the National Centre for Research and Development grant POIR.04.01.02-00-0081/17. The experiment in LAAS-CNRS was supported by the H2020 730994 grant TERRINet. The authors would like to thank Jan Wietrzykowski for his essential help in collecting the LAAS dataset.


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Copyright information

© Springer Nature Switzerland AG 2020

Authors and Affiliations

  1. 1.Institute of Robotics and Machine IntelligencePoznań University of TechnologyPoznańPoland

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