Please use this identifier to cite or link to this item: https://doi.org/10.1109/IROS.2013.6697035
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dc.titleMapping with synthetic 2D LIDAR in 3D urban environment
dc.contributor.authorChong, Z.J.
dc.contributor.authorQin, B.
dc.contributor.authorBandyopadhyay, T.
dc.contributor.authorAng Jr., M.H.
dc.contributor.authorFrazzoli, E.
dc.contributor.authorRus, D.
dc.date.accessioned2014-10-07T09:14:53Z
dc.date.available2014-10-07T09:14:53Z
dc.date.issued2013
dc.identifier.citationChong, 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. <a href="https://doi.org/10.1109/IROS.2013.6697035" target="_blank">https://doi.org/10.1109/IROS.2013.6697035</a>
dc.identifier.isbn9781467363587
dc.identifier.issn21530858
dc.identifier.urihttp://scholarbank.nus.edu.sg/handle/10635/86014
dc.description.abstractIn 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.
dc.description.urihttp://libproxy1.nus.edu.sg/login?url=http://dx.doi.org/10.1109/IROS.2013.6697035
dc.sourceScopus
dc.typeConference Paper
dc.contributor.departmentMECHANICAL ENGINEERING
dc.description.doi10.1109/IROS.2013.6697035
dc.description.sourcetitleIEEE International Conference on Intelligent Robots and Systems
dc.description.page4715-4720
dc.description.coden85RBA
dc.identifier.isiutNOT_IN_WOS
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