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- W2118413201 abstract "SummaryThe ability of a robot to navigate itself in the environment is a crucial step towards its autonomy. In this article a method for simultaneous localization an mapping (SLAM) of mobile robots in six degrees of freedom (6DOF) is presented. As an input, the method is using 3D range data acquired from a continuously inclined laser rangefinder. The localization and mapping task is equal to the registration of multiple 3D images into a common frame of reference. For this purpose, an extended version of the Iterative Closest Point (ICP) algorithm is being used. In order to accelerate the time-demanding 6DOF image registration, the method is modified in the following way: first, a 3DOF registration is performed using leveled maps extracted from the 3D data, followed by a robust 6DOF registration. The proposed method compared to a single phase 6DOF registration gives promising results in structured environments." @default.
- W2118413201 created "2016-06-24" @default.
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- W2118413201 date "2008-02-11" @default.
- W2118413201 modified "2023-10-14" @default.
- W2118413201 title "3D Mapping and Localization Using Leveled Map Accelerated ICP" @default.
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- W2118413201 doi "https://doi.org/10.1007/978-3-540-78317-6_35" @default.
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