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3D mapping the Kvarntorp mine: a rield experiment for evaluation of 3D scan matching algorithms
Örebro University, Department of Technology. (AASS)ORCID iD: 0000-0001-8658-2985
Institute of Computer Science, University of Osnabrück, Osnabrück, Germany. (Knowledge Systems Research Group)
Institute of Computer Science, University of Osnabrück, Osnabrück, Germany. (Knowledge Systems Research Group)
Örebro University, Department of Technology. (AASS)ORCID iD: 0000-0003-0217-9326
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2008 (English)In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Workshop, 2008Conference paper, Published paper (Other academic)
Abstract [en]

This paper presents the results of a field experiment in the Kvarntorp mine outside of Örebro in Sweden. 3D mapping of the underground mine has been used to compare two scan matching methods, namely the iterative closest point algorithm (ICP) and the normal distributions transform (NDT). The experimental results of the algorithm are compared in terms of robustness and speed. For robustness we measure how reliably 3D scans are registered with respect to different starting pose estimates. Speed is evaluated running the authors’ best implementations on the same hardware. This leads to an unbiased comparison. In these experiments, NDT was shown to converge form a larger range of initial pose estimates than ICP, and to perform faster.

Place, publisher, year, edition, pages
2008.
Keywords [en]
Scan matching, registration, SLAM
National Category
Engineering and Technology Computer and Information Sciences
Research subject
Computer and Systems Science
Identifiers
URN: urn:nbn:se:oru:diva-3262OAI: oai:DiVA.org:oru-3262DiVA, id: diva2:137559
Conference
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Workshop "3D Mapping", Nice, France, September 2008
Available from: 2008-11-28 Created: 2008-11-28 Last updated: 2018-06-13Bibliographically approved

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3D Mapping the Kvarntorp Mine: A Field Experiment for Evaluation of 3D Scan Matching Algorithms(1012 kB)101 downloads
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Magnusson, MartinLilienthal, Achim J.

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CiteExportLink to record
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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
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  • text
  • asciidoc
  • rtf