Plane-feature based 3D outdoor SLAM with Gaussian filters

Abstract

In this paper, a novel method extracting 3D planar features from laser range data (LiDAR) and its adaptation to outdoor SLAM using respective Extended Kalman Filter (EKF) and Unscented Kalman Filter (UKF) is proposed. The paper is mainly divided into two parts such that the feature extraction algorithm and its application to SLAM problem are given. Firstly… (More)
DOI: 10.1109/ICVES.2012.6294326

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