Alastair Harrison

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In this paper we describe a body of work aimed at extending the reach of mobile navigation and mapping. We describe how running topological and metric mapping and pose estimation processes concurrently , using vision and laser ranging, has produced a full six-degree-of-freedom outdoor navigation system. It is capable of producing intricate three-dimensional(More)
when the vehicle operates on undulating terrain and in part from a desire to produce 3D maps of arbitrary, a priori unknown environments. We use an information-theoretic derived measure of local saliency to partition the raw 3D data stream into spatially distinct point-clusters. These clusters are natural features in measurement space that capture the(More)
This paper describes a body of work aimed at extending the reach of mobile navigation and mapping. We describe how running topological and metric mapping and pose estimation processes concurrently, using vision and laser ranging, has produced a full six-degree-of-freedom outdoor navigation system. It is capable of producing intricate 3D maps over many(More)
— This paper is about estimating a smooth, continuous-time trajectory of a vehicle relative to a prior 3D laser map. We pose the estimation problem as that of finding a sequence of Catmull-Rom splines which optimise the Kernelised Rényi Distance (KRD) between the prior map and live measurements from a 3D laser sensor. Our approach treats the laser(More)
—This paper describes a novel method for determining the extrinsic calibration parameters between 2D and 3D LIDAR sensors with respect to a vehicle base frame. To recover the calibration parameters we attempt to optimize the quality of a 3D point cloud produced by the vehicle as it traverses an unknown, unmodified environment. The point cloud quality metric(More)
—This paper describes a novel method for determining the extrinsic calibration parameters between 2D and 3D LIDAR sensors with respect to a vehicle base frame. To recover the calibration parameters we attempt to optimize the quality of a 3D point cloud produced by the vehicle as it traverses an unknown, unmodified environment. The point cloud quality metric(More)
This paper describes the design, build, automatic self-calibration and evaluation of a 3D Laser sensor using conventional parts. Our goal is to design a system, which is an order of magnitude cheaper than commercial systems , with commensurate performance. In this paper we adopt point cloud " crispness " as the measure of system performance that we wish to(More)