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|Title:||Mapping with synthetic 2D LIDAR in 3D urban environment||Authors:||Chong, Z.J.
Ang Jr., M.H.
|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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