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- W2169700245 abstract "6D SLAM (Simultaneous Localization and Mapping) or 6D ConcurrentLocalization and Mapping of mobile robots considers six degrees offreedom for the robot pose, namely, the x, y and z coordinatesand the roll, yaw and pitch angles. In previous work we presented ourscan matching based 6D SLAM approach, where scan matching isbased on the well known iterative closest point (ICP) algorithm[Besl 1992]. Efficient implementations of this algorithm are aresult of a fast computation of closest points. The usual approach,i.e., using kd-trees is extended in this paper. We describe a novelsearch stategy, that leads to significant speed-ups. Our mappingsystem is real-time capable, i.e., 3D maps are computed using theresources of the used Kurt3D robotic hardware." @default.
- W2169700245 created "2016-06-24" @default.
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- W2169700245 date "2006-01-01" @default.
- W2169700245 modified "2023-10-14" @default.
- W2169700245 title "6D SLAM with Cached kd-tree Search." @default.
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