The following data was collected during NIST Response Robot Evaluation Exercise 2008 at Disaster City, Texas. The related map was generated using 3D Plane SLAM.
Photos from the Site
|Front view of the crash site.||Close up.||The robot collecting data.|
3D Plane SLAM Results
Below some videos are shown with animated results of the 3D mapping with 3D Plane SLAM. Please click the images to play the movies.
Plane-SLAM Maps in X3D format
The results of the Plane-SLAM are also available as X3D data. Use "tar zxvf file-name" to uncompress and untar into folders, and then load main.x3d in the output folder using an X3D viewer.
- After pairwise plane-matching, but before relaxation:
- After pairwise plane-matching followed by loop-closing and relaxation:
Comparison to ICP
3D-Plane-SLAM outperforms Iterative Closest Point (ICP) in this scenario in terms of computation speed and robustness. Due to the lack of meaningful odometry, ICP fails with several pairwise registrations.