Towards 3D mapping in large urban environments

@article{Howard2004Towards3M,
  title={Towards 3D mapping in large urban environments},
  author={Andrew Howard and Denis Fernando Wolf and Gaurav S. Sukhatme},
  journal={2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)},
  year={2004},
  volume={1},
  pages={419-424 vol.1}
}
This paper describes work-in-progress aimed at generating dense 3D maps of urban environments using laser range data acquired from a moving platform. These maps display both fine-scale detail (resolving features only a few centimeters across) and large-scale consistency (typical maps are approximately 0.5 km on a side). In this paper, we sketch a basic 3D mapping algorithm (paying particular attention to practical engineering details) and present preliminary results acquired on the USC… CONTINUE READING
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