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Local multi-resolution representation for 6D motion estimation and mapping with a continuously rotating 3D laser scanner
2014
2014 IEEE International Conference on Robotics and Automation (ICRA)
Micro aerial vehicles (MAV) pose a challenge in designing sensory systems and algorithms due to their size and weight constraints and limited computing power. We present an efficient 3D multi-resolution map that we use to aggregate measurements from a lightweight continuously rotating laser scanner. We estimate the robot's motion by means of visual odometry and scan registration, aligning consecutive 3D scans with an incrementally built map. By using local multi-resolution, we gain
doi:10.1109/icra.2014.6907626
dblp:conf/icra/DroeschelSB14
fatcat:q6gisaji2fctnhpjdvd4tahvna