Portable laser range-finders, further referred to as LIDAR, and simultaneous localization and mapping (SLAM) are an efficient method of acquiring as-built floor plans. Generating and visualizing floor plans in real-time helps the operator assess the quality and coverage of capture data. Building a portable capture platform necessitates operating under limited computational resources. We present the approach used in our backpack mapping platform which achieves real-time mapping and loop closure at a 5 cm resolution. To achieve real-time loop closure, we use a branch-and-bound approach for computing scan-to-submap matches as constraints. We provide experimental results and comparisons to other well known approaches which show that, in terms of quality, our approach is competitive with established techniques.
IEEE-copyrighted article, http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7487258