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Localization and Mapping on Agriculture Based on Point-Feature Extraction and Semiplanes Segmentation From 3D LiDAR Data

André Silva Aguiar, Filipe Neves dos Santos, Héber Sobreira, José Boaventura-Cunha, Armando Jorge Sousa
2022 Frontiers in Robotics and AI  
This approach uses both point- and semiplane-features extracted from 3D LiDAR data to map the environment and localize the robot using a novel Particle Filter that considers both feature modalities.  ...  To address this issue, we propose an algorithm called VineSLAM suitable for localization and mapping in agriculture.  ...  ACKNOWLEDGMENTS AA thanks the FCT-Foundation for Science and Technology, Portugal, for the Ph.D. Grant DFA/BD/5318/2020  ... 
doi:10.3389/frobt.2022.832165 pmid:35155589 pmcid:PMC8831384 fatcat:y7s3dvy7ende7joney6oxss4qu