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   Articles with "scan matching" as a keyword



RectMatch: A novel scan matching method using the rectangle-flattening representation for mobile LiDAR systems

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recommendations! Published in 2021 at "Isprs Journal of Photogrammetry and Remote Sensing"

DOI: 10.1016/j.isprsjprs.2021.08.011

Abstract: Abstract Point cloud registration is a fundamental problem in 3D computer vision. This paper addresses scan matching for reliable Mobile LiDAR Systems (MLSs) that can traverse different environments and be robust against outliers and noise.… read more here.

Keywords: mobile lidar; rectangle; rectangle flattening; flattening representation ... See more keywords

PRISM-TopoMap: Online Topological Mapping With Place Recognition and Scan Matching

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recommendations! Published in 2024 at "IEEE Robotics and Automation Letters"

DOI: 10.1109/lra.2025.3541454

Abstract: Mapping is one of the crucial tasks enabling autonomous navigation of a mobile robot. Conventional mapping methods output a dense geometric map representation, e.g. an occupancy grid, which is not trivial to keep consistent for… read more here.

Keywords: place recognition; scan matching; topological mapping; prism topomap ... See more keywords

Circle Fit Matching: A Fast Analytical Laser Scan Matching Method for 2-D Laser Scanners

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recommendations! Published in 2024 at "IEEE Transactions on Instrumentation and Measurement"

DOI: 10.1109/tim.2024.3476602

Abstract: Laser scanners have been verified successfully by academic research and industrial applications on their eligibility for robot localization tasks. This article introduces Circle Fit Matching (CFM), an analytical and efficient 2-D laser scan matching (LSM)… read more here.

Keywords: laser; fit matching; laser scanners; scan matching ... See more keywords

Comparative Analysis of 3D LiDAR Scan-Matching Methods for State Estimation of Autonomous Surface Vessel

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recommendations! Published in 2023 at "Journal of Marine Science and Engineering"

DOI: 10.3390/jmse11040840

Abstract: Accurate positioning and state estimation of surface vessels are prerequisites to achieving autonomous navigation. Recently, the rapid development of 3D LiDARs has promoted the autonomy of both land and aerial vehicles, which has aroused the… read more here.

Keywords: state; iterative closest; state estimation; lidar scan ... See more keywords
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LIDAR Scan Matching in Off-Road Environments

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recommendations! Published in 2020 at "Robotics"

DOI: 10.3390/robotics9020035

Abstract: Accurately matching the LIDAR scans is a critical step for an Autonomous Land Vehicle (ALV). Whilst most previous works have focused on the urban environment, this paper focuses on the off-road environment. Due to the… read more here.

Keywords: lidar scan; scan matching; matching approaches; road ... See more keywords