Globally Consistent 3D LiDAR Mapping With GPU-Accelerated GICP Matching Cost Factors.
Kenji KoideMasashi YokozukaShuji OishiAtsuhiko BannoPublished in: IEEE Robotics Autom. Lett. (2021)
Keyphrases
- globally consistent
- gpu accelerated
- matching cost
- global consistency
- global information
- finite element
- real time
- stereo matching
- image pixels
- stereo algorithm
- stereo images
- sequence alignment
- stereo correspondence
- integral image
- high resolution
- image segmentation
- least squares
- point cloud
- mobile robot
- dynamic programming
- image sequences