3-D mapping of natural environments with trees by means of mobile perception

@article{Forsman20053DMO,
  title={3-D mapping of natural environments with trees by means of mobile perception},
  author={Pekka Forsman and Aarne Halme},
  journal={IEEE Transactions on Robotics},
  year={2005},
  volume={21},
  pages={482-490}
}
In this paper, a method of generating a three-dimensional (3-D) geometric model for large-scale natural environments with trees is presented. The environment mapping method, which uses range images as measurement data, consists of three main phases. First, geometric feature objects are extracted from each of the range images. Second, the relative coordinate transformations (i.e., registrations) between the sensor viewpoint locations, where the range data are measured, are computed. Third, an… CONTINUE READING
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