Mapping forests using an unmanned ground vehicle with 3D LiDAR and graph-SLAM.
Marek PierzchalaPhilippe GiguèreRasmus AstrupPublished in: Comput. Electron. Agric. (2018)
Keyphrases
- ground vehicles
- autonomous vehicles
- path planning
- loop closing
- mobile robot
- random walk
- directed graph
- point cloud
- graph structure
- graph representation
- real time
- topological map
- simultaneous localization and mapping
- structured data
- graph theory
- directed acyclic graph
- aerial imagery
- vehicle detection
- outdoor environments
- dynamic environments
- spanning tree
- graph model
- weighted graph
- ground surface
- data association
- collision avoidance
- graph mining
- graph matching
- connected components