TY - GEN
T1 - A 3-D scan matching using improved 3-D normal distributions transform for mobile robotic mapping
AU - Takeuchi, Eijiro
AU - Tsubouchi, Takashi
PY - 2006/12/1
Y1 - 2006/12/1
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=34250671471&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=34250671471&partnerID=8YFLogxK
U2 - 10.1109/IROS.2006.282246
DO - 10.1109/IROS.2006.282246
M3 - Conference contribution
AN - SCOPUS:34250671471
SN - 142440259X
SN - 9781424402595
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 3068
EP - 3073
BT - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
T2 - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Y2 - 9 October 2006 through 15 October 2006
ER -