Characterization of Multiple 3D LiDARs for Localization and Mapping Performance using the NDT Algorithm.
Alexander CarballoAbraham MonrroyDavid Robert WongPatiphon NarksriJacob LambertYuki KitsukawaEijiro TakeuchiShinpei KatoKazuya TakedaPublished in: IV Workshops (2021)
Keyphrases
- learning algorithm
- cost function
- times faster
- theoretical analysis
- significant improvement
- particle swarm optimization
- improved algorithm
- high accuracy
- experimental evaluation
- dynamic programming
- k means
- clustering method
- similarity measure
- computational complexity
- selection algorithm
- objective function
- matching algorithm
- recognition algorithm
- detection algorithm
- segmentation algorithm
- expectation maximization
- genetic algorithm
- worst case
- probabilistic model
- preprocessing
- classification algorithm
- optimization algorithm
- path planning
- convergence rate
- localization algorithm
- tree structure
- ant colony optimization
- experimental study
- optimal solution
- computationally efficient
- input data
- linear programming
- search space
- np hard