Low-drift and real-time lidar odometry and mapping

  title={Low-drift and real-time lidar odometry and mapping},
  author={Ji Zhang and Sanjiv Singh},
  journal={Auton. Robots},
Herewe propose a real-timemethod for low-drift odometry andmapping using rangemeasurements from a 3D laser scanner moving in 6-DOF. The problem is hard because the range measurements are received at different times, and errors in motion estimation (especially without an external reference such asGPS) causemis-registration of the resulting point cloud. To date, coherent 3D maps have been built by off-line batch methods, often using loop closure to correct for drift over time. Our method achieves… CONTINUE READING
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