Corpus ID: 119317601

Large-scale 3D Mapping of Sub-arctic Forests

  title={Large-scale 3D Mapping of Sub-arctic Forests},
  author={P. Babin and Philippe Dandurand and V. Kubelka and P. Gigu{\`e}re and F. Pomerleau},
  • P. Babin, Philippe Dandurand, +2 authors F. Pomerleau
  • Published 2019
  • Computer Science
  • ArXiv
  • The ability to map challenging subarctic environments opens new horizons for robotic deployments in industries such as forestry, surveillance, and open-pit mining. In this paper, we explore possibilities of large-scale lidar mapping in a boreal forest. Computational and sensory requirements with regards to contemporary hardware are considered as well. The lidar mapping is often based on the SLAM technique relying on pose graph optimization, which fuses the Iterative Closest Point (ICP… CONTINUE READING
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