Mobile 3D indoor mapping using the Continuous Normal Distributions Transform

Campbell D; Whitty M; Lim S, 2012, 'Mobile 3D indoor mapping using the Continuous Normal Distributions Transform', 2012 International Conference on Indoor Positioning and Indoor Navigation, IPIN 2012 - Conference Proceedings, Australia

Details

Date
2014

Abstract / Description

Existing approaches for indoor mapping are often either time-consuming or inaccurate. This paper presents the Continuous Normal Distributions Transform (C-NDT), an efficient approach to 3D indoor mapping that balances acquisition time, completeness and accuracy by registering scans acquired from a rotating LiDAR sensor mounted on a moving vehicle. C-NDT uses the robust Normal Distributions Transform (NDT) algorithm for scan registration, ensuring that the mapping is independent of the long-term quality of the odometry. We demonstrate that C-NDT produces more accurate maps than stand-alone dead-reckoning, achieves better map completeness than static scanning and is at least an order of magnitude faster than existing static scanning methods. © 2012 IEEE.

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