Successful approaches to autonomous vehicle localisation and navigation typically involve 3D LIDAR scanners and a static, curated 3D map, both of which are expensive to acquire and maintain. We propose an experience-based approach to matching a local 3D swathe built using a push-broom 2D LIDAR to a number of prior 3D maps, each of which [...]
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So far Will Maddern has created 2 blog entries.
Abstract—This paper describes a novel method for deter- mining the extrinsic calibration parameters between 2D and 3D LIDAR sensors with respect to a vehicle base frame. To recover the calibration parameters we attempt to optimize the quality of a 3D point cloud produced by the vehicle as it traverses an unknown, unmodified environment. The point [...]