Online three-dimensional SLAM by registration of large planar surface segments and closed-form pose-graph relaxation

Journal of Field Robotics

Volumn 27, Issue 1, 2010, Pages 52-84

  Pathak, Kaustubh ^a   Birk, Andreas ^a   Vaskevicius, Narunas ^a   Pfingsthorn, Max ^a   Schwertfeger, Sören ^a   Poppinga, Jann ^a  

^a JACOBS UNIVERSITY BREMEN   (Germany)

Author keywords

[No Author keywords available]

Indexed keywords

CAR PARKS; CLOSED FORM; DATA SETS; DISASTER SCENARIO; ITERATIVE CLOSEST POINTS; LOOP-CLOSING; MOTION ESTIMATES; ODOMETRY; ONLINE OPERATIONS; PLANAR SURFACE; POINT CLOUD; RANGE SENSORS; REGISTRATION METHODS; RELAXATION PROBLEM; RELAXATION TECHNIQUES; SIMULTANEOUS LOCALIZATION AND MAPPING; SURFACE PATCHES; THREE-DIMENSIONAL (3D);

MAPPING;

THREE DIMENSIONAL;

EID: 75749141278     PISSN: 15564959     EISSN: 15564967     Source Type: Journal    
DOI: 10.1002/rob.20322     Document Type: Article

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