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Benjamin Schnieders

2 accepted papers

2017

NOctoSLAM: Fast octree surface normal mapping and registration

IROS 2017poster

In this paper, we introduce a SLAM front end called NOctoSLAM. The approach adopts an octree-based map representation that implicitly enables source and reference data association for point to plane ICP registration. Additionally, the data structure is used to group map points to approximate surface…

Cited by 6SourceScholar