FARO Technologies, Inc.
CORRECTING POSITIONS AFTER LOOP CLOSURE IN SIMULTANEOUS LOCALIZATION AND MAPPING ALGORITHM

Abstract:

A method and system for generating a three-dimensional (3D) map of an environment is provided. An example method includes receiving a 3D scan and portions of a 2D map of the environment and receiving coordinates of the scan position in the 2D map. The method further includes associating the coordinates of the scan position with the portion of the 2D map. The method further includes linking the coordinates with the portion of the 2D map. The method further includes storing submap data for each of the plurality of submaps into a data object associated respective submaps. The method further includes performing a loop closure algorithm on each of the plurality of submaps. The method further includes, for each of the plurality of submaps for which the position anchor of the submap changed during performing the loop closure algorithm, determining a new data object position for the data objects.