A 3-D scan matching using improved 3-D normal distributions transform for mobile robotic mapping

Eijiro Takeuchi, Takashi Tsubouchi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

99 Citations (Scopus)

Abstract

A 3D scan matching is an important component for sensor based localization and mapping by a mobile robot in natural environment. In this paper, the present authors propose a way to extend 2D Normal Distributions Transform(NDT) scan matching method to 3D scan matching, and its improvement for faster processing time. This scan matching method divides scan into voxels, and approximates scan points in each cell into normal distribution. That matching time is script O sign(N) with N of the number of input scan points. The authors describe in this paper, NDT for 3D scan points, its acceleration using the dual resolutions of NDT, and experiments of map building in large scale environments.

Original languageEnglish
Title of host publication2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Pages3068-3073
Number of pages6
DOIs
Publication statusPublished - 2006 Dec 1
Event2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing, China
Duration: 2006 Oct 92006 Oct 15

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Other

Other2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
CountryChina
CityBeijing
Period06/10/906/10/15

ASJC Scopus subject areas

  • Control and Systems Engineering

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