4 accepted papers
In this letter, we propose a method that can be used to regenerate the 3-D normal distributions transform (NDT) for target lattice. When a pose is updated by simultaneous localization and mapping (SLAM), the lattice at the pose is also transformed. Given that NDT is a Gaussian mixture model generate
Distribution-to-distribution normal distributions transform (NDT-D2D) is one of the fast point set registrations. Since the normal distributions transform (NDT) is a set of normal distributions generated by discrete and regular cells, local minima of the objective function is an issue of NDT-D2D. Al…
Scan similarity-based pose graph construction method for graph SLAM is proposed. To perform delicate pose graph SLAM, front-end that constructs a graph as well as back-end that optimizes the constructed graph is an important task. Generally, there is an error accumulation phenomenon during the odome…
This paper presents a probabilistic normal distributions transform (NDT) representation which improves the accuracy of point cloud registration by using the probabilities of point samples. Since conventional NDT does not generate distributions in cells having fewer point samples than the number thre…