oru.sePublications
Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • 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
  • html
  • text
  • asciidoc
  • rtf
Normal distributions transform occupancy maps: application to large-scale online 3D mapping
Örebro University, School of Science and Technology. (Centre for Applied Autonomous Sensor Systems ( AASS ))
Örebro University, School of Science and Technology. (Centre for Applied Autonomous Sensor Systems ( AASS ))ORCID iD: 0000-0002-2953-1564
Örebro University, School of Science and Technology. (Centre for Applied Autonomous Sensor Systems ( AASS ))ORCID iD: 0000-0002-6013-4874
Aalto University of Technology, Aalto, Finland.
Show others and affiliations
2013 (English)In: IEEE International Conference on Robotics and Automation, New York: IEEE conference proceedings, 2013, p. 2233-2238Conference paper, Published paper (Refereed)
Abstract [en]

Autonomous vehicles operating in real-world industrial environments have to overcome numerous challenges, chief among which is the creation and maintenance of consistent 3D world models. This paper proposes to address the challenges of online real-world mapping by building upon previous work on compact spatial representation and formulating a novel 3D mapping approach — the Normal Distributions Transform Occupancy Map (NDT-OM). The presented algorithm enables accurate real-time 3D mapping in large-scale dynamic nvironments employing a recursive update strategy. In addition, the proposed approach can seamlessly provide maps at multiple resolutions allowing for fast utilization in high-level functions such as localization or path planning. Compared to previous approaches that use the NDT representation, the proposed NDT-OM formulates an exact and efficient recursive update formulation and models the full occupancy of the map.

Place, publisher, year, edition, pages
New York: IEEE conference proceedings, 2013. p. 2233-2238
National Category
Computer Sciences
Research subject
Computer Science
Identifiers
URN: urn:nbn:se:oru:diva-29138DOI: 10.1109/ICRA.2013.6630878ISI: 000337617302036OAI: oai:DiVA.org:oru-29138DiVA, id: diva2:622633
Conference
IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, May 6-10, 2013
Available from: 2013-05-22 Created: 2013-05-22 Last updated: 2018-05-17Bibliographically approved

Open Access in DiVA

No full text in DiVA

Other links

Publisher's full texthttp://asrobo.hut.fi/~jari/papers/Saarinen_etal_NDT-OM_ICRA2013.pdf

Authority records BETA

Saarinen, JariAndreasson, HenrikStoyanov, TodorLilienthal, Achim J.

Search in DiVA

By author/editor
Saarinen, JariAndreasson, HenrikStoyanov, TodorLilienthal, Achim J.
By organisation
School of Science and Technology
Computer Sciences

Search outside of DiVA

GoogleGoogle Scholar

doi
urn-nbn

Altmetric score

doi
urn-nbn
Total: 421 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • 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
  • html
  • text
  • asciidoc
  • rtf