Todor Stoyanov and Achim J. Lilienthal
Maximum Likelihood Point Cloud Acquisition from a Mobile Platform
Proc. IEEE Int. Conf. on Advanced Robotics (ICAR), 2009
Abstract: This paper describes an approach to acquire locally consistent range data scans from a moving sensor platform. Data from a vertically mounted rotating laser scanner and odometry position estimates are fused and used to estimate maximum likelihood point clouds. An estimation algorithm is applied to reduce the accumulated error after a full rotation of the range finder. A configuration consisting of a SICK laser scanner mounted on a rotational actuator is described and used to evaluate the proposed approach. The data sets analyzed suggest a significant improvement in point cloud consistency, even over a short travel distance.
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@INPROCEEDINGS{Stoyanov_Lilienthal:ICAR:2009,
  AUTHOR = {Stoyanov, Todor and Lilienthal, Achim J.},
  TITLE = {Maximum Likelihood Point Cloud Acquisition from a Mobile Platform},
  BOOKTITLE = {Proceedings of the IEEE International Conference on Advanced Robotics (ICAR)},
  YEAR = {2009},
  MONTH = {June 22--26},
  ADRESS = {Munich, Germany},
  PAGES = {}
}