• Automated Rapid Mapping of Joint Orientations with Mobile LiDAR 

      Gallant, Marc J.; Marshall, Joshua A. (2016-10-31)
      This paper introduces three-dimensional axis mapping (3DAM), a new method for joint orientation estimation that rapidly collects data from a mobile platform containing a scannerless LiDAR and an inertial measurement unit ...
    • Automated Three-Dimensional Axis mapping with a mobile platform 

      Gallant, Marc J.; Marshall, Joshua A. (2016-02-23)
      An axis map (AM) represents the orientations of planar surfaces in an environment and is void of positional information. Three-dimensional axis mapping (3DAM) is a graph-based optimization algorithm that generates an AM, ...
    • Estimating the Heading of a Husky Mobile Robot with a LiDAR Compass based on Direction Maps 

      Gallant, Marc J.; Marshall, Joshua A.; Lynch, Brian K. (2016-02-05)
      Without an absolute position sensor (e.g., GPS), an accurate heading estimate is necessary for proper localization of an autonomous unmanned vehicle or robot. This paper introduces direction maps (DMs), which represent the ...
    • The LiDAR Compass: Extremely Lightweight Heading Estimation with Axis Maps 

      Gallant, Marc J.; Marshall, Joshua A. (2016-09-23)
      This paper introduces the LiDAR compass, a bounded and extremely lightweight heading estimation technique that combines a two-dimensional laser scanner and axis maps, which represent the orientations of flat surfaces in ...
    • Two Dimensional Axis Mapping using LIDAR 

      Gallant, Marc J.; Marshall, Joshua A. (2016-02-04)
      Abstract—This paper introduces two-dimensional axis mapping, which estimates axis maps (AMs) based on LiDAR measurements. An AM describes the dominant orientations of surfaces in an environment, and is void of positional ...