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Maximum Likelihood Point Cloud Acquisition from a Rotating Laser Scanner on a Moving Platform
Örebro University, School of Science and Technology.ORCID iD: 0000-0002-6013-4874
Örebro University, School of Science and Technology.ORCID iD: 0000-0003-0217-9326
2009 (English)In: Proceedings of the IEEE International Conference on Advanced Robotics (ICAR), IEEE conference proceedings, 2009Conference paper, Published paper (Refereed)
Abstract [en]

This paper describes an approach to acquire locally consistent range data scans from a moving sensor platform. Data from a vertically mounted rotating laser scanner and odometry position estimates are fused and used to estimate maximum likelihood point clouds. An estimation algorithm is applied to reduce the accumulated error after a full rotation of the range finder. A configuration consisting of a SICK laser scanner mounted on a rotational actuator is described and used to evaluate the proposed approach. The data sets analyzed suggest a significant improvement in point cloud consistency, even over a short travel distance.

Place, publisher, year, edition, pages
IEEE conference proceedings, 2009.
National Category
Computer Vision and Robotics (Autonomous Systems)
Research subject
Information technology
Identifiers
URN: urn:nbn:se:oru:diva-22690OAI: oai:DiVA.org:oru-22690DiVA, id: diva2:524115
Conference
IEEE International Conference on Advanced Robotics (ICAR)
Note

Proceedings at

http://ieeexplore.ieee.org/xpl/mostRecentIssue.jsp?punumber=5166725

Available from: 2012-05-07 Created: 2012-04-27 Last updated: 2018-01-12Bibliographically approved

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Stoyanov, TodorLilienthal, Achim J.

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