Mapping and Self-localization using Low-dimensional Features of 3D Pointcloud
Mapping and self-localization are crucial technologies for realizing autonomos mobile robots that can perform their tasks in real environments.
This research focuses on computing low-dimensional geometric features from 3D pointcloud data obtained from a 3D laser range finder (LIDAR)
and utilizing them for constructing maps with small data-size and realizing robust and computationally cheap self-localization.
Y. Tazaki, Y. Miyauchi, Y. Yokokohji: Loop Detection of Outdoor Environment Using Proximity Points of 3D Pointcloud, IEEE/SICE International Symposium on System Integration, 2017.