3D point-cloud mapping using laser scanner mounted on two-wheeled vehicle based on NDT scan matching

3D point-cloud mapping using laser scanner mounted on two-wheeled vehicle based on NDT scan matching

This paper presents a method for generating a 3D point-cloud map using multilayer laser scanner mounted on two-wheeled vehicle. The vehicle identifies its own 3D pose (position and attitude) in a laser-scan period using the normal-distributions transform (NDT) scan-matching method. The vehicle’s pos...

Full description

Bibliographic Details
Main Authors: Kohei TOKORODANI, Masafumi HASHIMOTO, Yusuke AIHARA, Kazuhiko TAKAHASHI
Format: Article
Language:Japanese
Published: The Japan Society of Mechanical Engineers 2019-09-01
Series:Nihon Kikai Gakkai ronbunshu
Subjects:
point-cloud mapping
laser-scan data
distortion correction
extended kalman filter
interpolation
ndt scan matching
two-wheeled vehicle
Online Access:https://www.jstage.jst.go.jp/article/transjsme/85/878/85_19-00055/_pdf/-char/en

Internet

https://www.jstage.jst.go.jp/article/transjsme/85/878/85_19-00055/_pdf/-char/en

Similar Items