Mapping with synthetic 2D LIDAR in 3D urban environment

@article{Chong2013MappingWS,
  title={Mapping with synthetic 2D LIDAR in 3D urban environment},
  author={Zhuang Jie Chong and Baoxing Qin and Tirthankar Bandyopadhyay and Marcelo H. Ang and Emilio Frazzoli and Daniela Rus},
  journal={2013 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2013},
  pages={4715-4720}
}
  • Z. J. Chong, B. Qin, +3 authors D. Rus
  • Published 1 November 2013
  • Computer Science
  • 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
In this paper, we report a fully automated detailed mapping of a challenging urban environment using single LIDAR. [...] Key Method Also, a Monte Carlo loop closure detection is implemented to perform place recognition efficiently. Automatic recovery of the pose graph map in the presence of false place recognition is realized through a heuristic based loop closure rejection. This mapping framework is evaluated through experiments on the real world dataset obtained from NUS campus environment.Expand
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