PlaneSLAM: Plane-based LiDAR SLAM for Motion Planning in Structured 3D Environments.
Adam DaiGreg LundGrace Xingxin GaoPublished in: CoRR (2022)
Keyphrases
- motion planning
- mobile robot
- dynamic environments
- robotic tasks
- path planning
- autonomous robots
- trajectory planning
- degrees of freedom
- indoor environments
- simultaneous localization and mapping
- robotic systems
- multi robot
- robot arm
- mobile robotics
- humanoid robot
- obstacle avoidance
- inverse kinematics
- robotic arm
- three dimensional
- point cloud
- autonomous mobile robot
- mechanical systems
- particle filter
- potential field
- climbing robot
- belief space
- configuration space
- high resolution
- lidar data
- visual servoing
- manipulation tasks
- robot navigation
- feature vectors
- viewpoint