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A 3-D Scan Matching using Improved 3-D Normal Distributions Transform for Mobile Robotic Mapping
Abstract
A 3D scan matching is an important component for sensor based localization and mapping by a mobile robot in natural environment. In this paper, the present authors propose a way to extend 2D normal distributions transform (NDT) scan matching method to 3D scan matching, and its improvement for faster processing time. This scan matching method divides scan into voxels, and approximates scan points in each cell into normal distribution. That matching time is O(N) with N of the number of input scan points. The authors describe in this paper, NDT for 3D scan points, its acceleration using the dual resolutions of NDT, and experiments of map building in large scale environments
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Cited by
A Survey of Autonomous Driving: Common Practices and Emerging Technologies
Yurtsever, E., Lambert, J., Carballo, A., & Takeda, K. (2020) · IEEE Access · doi:10.1109/access.2020.2983149 · Cited by 1,889
“6: We used NDT matching [97], [105] to localize our vehicle in the Nagoya University campus.”
BackgroundMethodScan registration for autonomous mining vehicles using 3D‐NDT
Magnusson, M., Lilienthal, A., & Duckett, T. (2007) · Journal of Field Robotics · doi:10.1002/rob.20204 · Cited by 771
Registration of large-scale terrestrial laser scanner point clouds: A review and benchmark
Dong, Z., Liang, F., Yang, B., Xu, Y., Zang, Y., Li, J., Wang, Y., Dai, W., Fan, H., Hyyppä, J., et al. (2020) · ISPRS Journal of Photogrammetry and Remote Sensing · doi:10.1016/j.isprsjprs.2020.03.013 · Cited by 438
Akai, N., Morales, L. Y., Takeuchi, E., Yoshihara, Y., & Ninomiya, Y. (2017) · 2017 IEEE Intelligent Vehicles Symposium (IV) · doi:10.1109/ivs.2017.7995900 · Cited by 115
Self-citationHe, M., Takeuchi, E., Ninomiya, Y., & Kato, S. (2016) · 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2016.7759043 · Cited by 13
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Metadata
- Authors
- Takeuchi, E., & Tsubouchi, T.
- Venue
- 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems
- Publisher
- IEEE
- Published
- 2006-10
- Pages
- 3068-3073
- OpenAlex
- W2096143401
- Cited by
- 205
- References
- 0
- FWCI
- 6.09
- Type
- conference paper
- Language
- en
- Open access
- closed
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- Takeuchi, E., & Tsubouchi, T. (2006). A 3-D Scan Matching using Improved 3-D Normal Distributions Transform for Mobile Robotic Mapping. 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems. https://doi.org/10.1109/iros.2006.282246
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