Continuous mapping and localization for autonomous navigation in rough terrain using a 3D laser scanner

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• 作者：David Droeschel ; ^{droeschel@ais.uni-bonn.de}Author Vitae ; Max Schwarz ^{max.schwarz@uni-bonn.de}Author Vitae ; Sven Behnke ^{behnke@cs.uni-bonn.de}Author Vitae
• 关键词：Mapping ; Localization ; Rough terrain
• 刊名：Robotics and Autonomous Systems
• 出版年：2017
• 出版时间：February 2017
• 年：2017
• 卷：88
• 期：Complete
• 页码：104-115
• 全文大小：7280 K
• 卷排序：88

文摘

A complete system for continuous mapping and localization fully integrated. Allocentric mapping system to allow for continuous mapping and localization. Experiments from the DARPA Robotics Challenge Finals and DLR SpaceBot Camp 2015.