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• W3089231674 startingPage "103649" @default.
• W3089231674 abstract "Building 3D maps of various terrains is a necessary approach to gain environmental information for mobile robots when they are exploring in unknown territories. In this paper, we propose a method to construct a point cloud map with laser-measured data as the robot moves around. A terrain-adaptive density mapping technique is used to balance the demands of small data size and high terrain accuracy by utilizing the local curvatures as the simplification criteria. The adaptive density mapping technique is further integrated within the map merging framework to improve the matching speed and accuracy. Indoor and outdoor experiments are proceeded, which verifies the effects of using terrain-adaptive density point cloud on controlling the map size and decreasing the map alignment error." @default.
• W3089231674 created "2020-10-01" @default.
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• W3089231674 date "2020-12-01" @default.
• W3089231674 modified "2023-10-04" @default.
• W3089231674 title "Map merging with terrain-adaptive density using mobile 3D laser scanner" @default.
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• W3089231674 doi "https://doi.org/10.1016/j.robot.2020.103649" @default.
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