Continuous 3D scan-matching with a spinning 2D laser

By M. Bosse, Robert Zlot. IEEE International Conference on Robotics and Automation, 2009

313 citations recorded by the source corpus.

Subfields: Aerospace Engineering, Computer Vision and Pattern Recognition, Environmental Engineering

View Paper: https://www.semanticscholar.org/paper/69626d4f404a335ff7a02a26698851b2e7de50f6

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In Aerospace Engineering

In Computer Vision and Pattern Recognition

In Environmental Engineering

Citations in the corpus

Automatic loop closure detection using multiple cameras for 3D indoor localization (2012, background): “Recently much work has been done toward solving the SLAM problem with six degrees of freedom (DOF) [2, 14, 3], i.e. position and orientation.”
A Review of Point Cloud Registration Algorithms for Mobile Robotics (2015, methodology): “applications mostly utilize 2D laser rangefinders1 for indoor [Yoshitaka et al., 2006] and outdoor [Bosse and Zlot, 2009b, 2008] localization.”
Past, Present, and Future of Simultaneous Localization and Mapping: Toward the Robust-Perception Age (2016, unknown): “matching formulation from [20] to a large-scale SLAM application.”
The three-dimensional normal-distributions transform : an efficient representation for registration, surface analysis, and loop detection (2009, methodology): “5 m and R = {[0, 3), [3, 6), [6, 9), [9, 15), [15,∞)} were used.”
IMLS-SLAM: Scan-to-Model Matching Based on 3D Data (2018, unknown): “[4] studies a continuous spinning 2D laser.”
Low-drift and real-time lidar odometry and mapping (2017, methodology): “Our proposed method in real-time produces maps that are qualitatively similar to those by Bosse and Zlot.”
Tightly Coupled 3D Lidar Inertial Odometry and Mapping (2019, methodology): “Here, we are only interested in the points which are most alike on a plane or on an edge [1], [7], since these points can be extracted from every scan of a lidar sweep.”
Zebedee: Design of a Spring-Mounted 3-D Range Sensor with Application to Mobile Mapping (2012, methodology): “In contrast to our previous work [5], correspondences can arise from any two surfels provided the difference between their timestamps is larger than half of the nominal sweep period.”
LOAM: Lidar Odometry and Mapping in Real-time (2014, methodology): “The approach closest to ours is that of Bosse and Zlot [3], [6], [22].”