Mapping with synthetic 2D LIDAR in 3D urban environment

Please use this identifier to cite or link to this item: https://doi.org/10.1109/IROS.2013.6697035

Title:	Mapping with synthetic 2D LIDAR in 3D urban environment
Authors:	Chong, Z.J. Qin, B. Bandyopadhyay, T. Ang Jr., M.H. Frazzoli, E. Rus, D.
Issue Date:	2013
Citation:	Chong, Z.J.,Qin, B.,Bandyopadhyay, T.,Ang Jr., M.H.,Frazzoli, E.,Rus, D. (2013). Mapping with synthetic 2D LIDAR in 3D urban environment. IEEE International Conference on Intelligent Robots and Systems : 4715-4720. ScholarBank@NUS Repository. https://doi.org/10.1109/IROS.2013.6697035
Abstract:	In this paper, we report a fully automated detailed mapping of a challenging urban environment using single LIDAR. To improve scan matching, extended correlative scan matcher is proposed. Also, a Monte Carlo loop closure detection is implemented to perform place recognition efficiently. Automatic recovery of the pose graph map in the presence of false place recognition is realized through a heuristic based loop closure rejection. This mapping framework is evaluated through experiments on the real world dataset obtained from NUS campus environment. © 2013 IEEE.
Source Title:	IEEE International Conference on Intelligent Robots and Systems
URI:	http://scholarbank.nus.edu.sg/handle/10635/86014
ISBN:	9781467363587
ISSN:	21530858
DOI:	10.1109/IROS.2013.6697035
Appears in Collections:	Staff Publications

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