RT Journal Article
T1 Improving 3D Scan Matching Time of the Coarse Binary Cubes Method with Fast Spatial Subsampling
A1 Martínez, Jorge L.
A1 Reina-Terol, Antonio Jesús
A1 Morales-Rodríguez, Jesús
A1 Mandow, Anthony
A1 García-Cerezo, Alfonso José
A1 Serón-Barba, Javier
K1 Láser
K1 Sistemas de barrido
AB Exploiting the huge amount of real time range data provided by new multi-beam three-dimensional (3D) laser scanners is challenging for vehicle and mobile robot applications. The Coarse Binary Cube (CBC) method was proposed to achieve fast and accurate scene registration by maximizing the number of coincident cubes between a pair of scans. The aim of this paper is speeding up CBC with a fast spatial subsampling strategy for raw point clouds that employs the same type of efficient data structures as CBC. Experimental results have been obtained with the Velodyne HDL-32E sensor mounted on the Quadriga mobile robot on irregular terrain. The influence of the subsampling rate has been analyzed. Preliminary results show a relevant gain in computation time without losing matching accuracy.
YR 2013
FD 2013-12-20
LK http://hdl.handle.net/10630/6825
UL http://hdl.handle.net/10630/6825
LA eng
NO Morales, J.; Martinez, J.L.; Mandow, A.; Reina, A.J.; Seron, J.; Garcia-Cerezo, A.,"Improving 3D scan matching time of the coarse binary cubes method with fast spatial subsampling,"39th Annual Conference of the IEEE Industrial Electronics Society, pp. 4168-4173, 2013doi:10.1109/IECON.2013.6699804
NO Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech.
DS RIUMA. Repositorio Institucional de la Universidad de Málaga
RD 20 ene 2026