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Simultaneous Localization and Mapping

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Handbuch der Geodäsie

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Zusammenfassung

Dieses Kapitel gibt eine Einführung in die Kartenerstellung und gleichzeitige Lokalisierung mobiler Sensorplattformen. Die gemeinsame Lösung dieser beiden Probleme ist eine Voraussetzung für die Realisierung vieler technischer Systeme von leichten Fluggeräten über autonome Roboter bis hin zu mobilen Kameras. Als Simultaneous Localization and Mapping bezeichnet man die Aufgabe, die Trajektorie samt Orientierungsinformation einer sich bewegenden Plattform aus Beobachtungen zu schätzen und gleichzeitig eine Karte der Umgebung zu erstellen. Diese Aufgabe ist in vielen realen Systemen von entscheidender Bedeutung: einerseits stellen hochgenaue Karten mitunter einen Wert an sich für den Benutzer oder eine spezielle Anwendung dar, andererseits benötigen beispielsweise autonome Roboter ein solches Modell, um zielgerichtet selbstständig navigieren zu können. Das Simultaneous Localization and Mapping Problem, beziehungsweise Teilprobleme davon, werden, je nach verwendeter Sensorik, auch als Bündelausgleichung, Structure from Motion oder SLAM bezeichnet. In diesem Kapitel werden wir verschiedene Ansätze vorstellen, mit denen man das SLAM Problem adressieren kann. Dies beinhaltet neben dem klassischen Verfahren mittels Ausgleichung, welches offline auf allen Daten operiert, auch Filtertechniken wie den Kalman-Filter und den Partikel-Filter, die zu den Onlineverfahren zählen. Bei der Verwendung der Kleinsten-Quadrate Methode sowie beim Kalman-Filter wird meist eine Normalverteilung beziehungsweise eine unimodale Verteilung über die Positionen der 3D-Punkte in der Umgebung und die Orientierung des Sensors geschätzt. Im Gegensatz dazu arbeitet der Partikel-Filter nichtparametrisch und kann multiple Hypothesen über mögliche Datenassoziationen parallel schätzen. Neben den einzusetzenden Schätzverfahren wird auch skizziert, wie SLAM Systeme mit unterschiedlichen Sensoren realisiert werden können.

Dieser Beitrag ist Teil des Handbuchs der Geodäsie, Band „Photogrammetrie und Fernerkundung“, herausgegeben von Christian Heipke, Hannover.

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  1. Insitut für Geodäsie und Geoinformation, Professur für Photogrammetrie, Universität Bonn, Nussallee 15, 53115, Bonn, Deutschland

    Cyrill Stachniss

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    Willi Freeden

  2. Physikalische Geodäsie, TU München Inst. Astronomische und, München, Germany

    Reiner Rummel

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Stachniss, C. (2016). Simultaneous Localization and Mapping. In: Freeden, W., Rummel, R. (eds) Handbuch der Geodäsie. Springer Reference Naturwissenschaften . Springer Spektrum, Berlin, Heidelberg. https://doi.org/10.1007/978-3-662-46900-2_49-2

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    Simultaneous Localization and Mapping
    Published:
    05 August 2016

    DOI: https://doi.org/10.1007/978-3-662-46900-2_49-2

  2. Original

    Simultaneous Localization and Mapping
    Published:
    02 March 2016

    DOI: https://doi.org/10.1007/978-3-662-46900-2_49-1

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