SLAM6D - Simultaneous Localization and Mapping with 6 DoF

This project consists of a software to register 3D point clouds into a common coordinate system, as well as a viewer to display the scene. For the registration, different ICP minimizing algorithms can be chosen, as well as global relaxation methods, aiming at generating an overall globally consistent scene. Several formats for the point clouds are supported, new formats can be implemented easily.

Authors
Andreas Nuechter; Kai Lingemann; Jochen Sprickerhof; Dorit Borrmann; Jan Elseberg; Peter Schneider; Deyuan Qui;

Get the Source Code via SVN
svn co https://svn.openslam.org/data/svn/slam6d

Long Description
This project consists of a software to register 3D point clouds into a common coordinate system, as well as a viewer to display the scene. For the registration, different ICP minimizing algorithms can be chosen, as well as global relaxation methods, aiming at generating an overall globally consistent scene. Several formats for the point clouds are supported, new formats can be implemented easily.

Example Images

A matches indoor 3D point cloud acquired with Kurt3D

Example outdoor 3D scan

Large outdoor scene in a bird eye view

3D scans inside the Kvarntorp mine near Oerebro

Input Data
3D scan data in various file formats.

Type of Map
6DSLAM can be used to create consistent 3D point clouds

Hardware/Software Requirements
6DSLAM was tested under gcc 4.3.2, icc 11.0 and MS Visual Studio

Papers Describing the Approach
Andreas Nuechter: 3D Robotic Mapping, Springer Tracts in Advanced Robotics (STAR), ISBN 978-3540898832, Springer Verlag, 2009

License Information
This software is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
The authors allow the users of OpenSLAM.org to use and modify the source code for their own research. Any commercial application, redistribution, etc has to be arranged between users and authors individually and is not covered by OpenSLAM.org.

SLAM6D is licenced under GPLv3


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