A Method for Registration of 3-D Shapes
IEEE Transactions on Pattern Analysis and Machine Intelligence - Special issue on interpretation of 3-D scenes—part II
ICP Registration Using Invariant Features
IEEE Transactions on Pattern Analysis and Machine Intelligence
A Split-and-Merge Segmentation Algorithm for Line Extraction in 2-D Range Images
ICPR '00 Proceedings of the International Conference on Pattern Recognition - Volume 1
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A new laser scan matching method based on clustering is advanced. It takes the advantages of both noniterative matching method and iterative matching method as well as increases the speed and the precision of matching. A method of map building based on laser scans using the matching method above is presented for mobile robots. The map building method matches two consecutive scans by using the feature points extracted from the scans and then completes the whole map building. In the experiment using the rescue robot developed in our lab, it shows that the new method can accomplish the task of real-time map building in an indoor environment accurately and effectively.