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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.
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
ISBN: 9781467363587
ISSN: 21530858
DOI: 10.1109/IROS.2013.6697035
Appears in Collections:Staff Publications

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