Koki Aoki

3D-BBS: Global Localization for 3D Point Cloud Scan Matching Using Branch-and-Bound Algorithm

This paper presents an accurate and fast 3D global localization method, 3D-BBS, that extends the existing branchand-bound (BnB)-based 2D scan matching (BBS) algorithm. To reduce memory consumption, we utilize a sparse hash table for storing hierarchical 3D voxel maps. To improve the processing cost…