High Quality Pose Estimation by Aligning Multiple Scans to a Latent Map

@inproceedings{Stanford2010HighQP,
  title={High Quality Pose Estimation by Aligning Multiple Scans to a Latent Map},
  author={Qi-Xing Huang Stanford and Serra Mall Stanford},
  year={2010}
}
We introduce a method for fast and accurate registration of multiple horizontal laser scans obtained by a mobile robot. The method is based on novel representation of the scene geometry called a latent map, which consists of a set of piecewise linear functions defined over a spatial grid covering the scene. The latent map representation is designed to handle the noise, outliers and limited spatial resolution of laser scan data in a principled manner. The main idea of our algorithm is to iterate… CONTINUE READING
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