Large-scale mapping in complex field scenarios using an autonomous car

作者：

Highlights：

• We present a mapping system for large-scale environments with changing features.

• We describe in a high level of detail a mapping algorithm for 3D-LiDAR.

• G-ICP was used for loop closure displacement calculation in GraphSLAM.

• Experiments were made with an autonomous vehicle in 3 real world environments.

摘要

•We present a mapping system for large-scale environments with changing features.•We describe in a high level of detail a mapping algorithm for 3D-LiDAR.•G-ICP was used for loop closure displacement calculation in GraphSLAM.•Experiments were made with an autonomous vehicle in 3 real world environments.

论文关键词：Robotics,Autonomous vehicles,SLAM,GraphSLAM,Mapping

论文评审过程：Received 18 February 2015, Revised 29 October 2015, Accepted 30 October 2015, Available online 6 November 2015, Version of Record 21 November 2015.

论文官网地址：https://doi.org/10.1016/j.eswa.2015.10.045