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Robust 3-Dimension Point Cloud Mapping in Dynamic Environment Using Point-Wise Static Probability-Based NDT Scan-Matching

Graph-based simultaneous localization and mapping (SLAM) is one of the methods to generate point cloud maps which are used for various applications in autonomous vehicles. Graph-based SLAM represents the pose of the vehicle as a node and the odometry between two different nodes as an edge. Among the...

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Principais autores: Sumyeong Lee, Chansoo Kim, Sungjin Cho, Sunwoo Myoungho, Kichun Jo
Formato: Artigo
Idioma:Inglês
Publicado em: IEEE 2020-01-01
coleção:IEEE Access
Assuntos:
Static probability
scan-matching
weighted NDT
LiDAR characteristic
graph-based SLAM
Acesso em linha:https://ieeexplore.ieee.org/document/9201452/
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