• 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 ...
    • 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 ...
    • Mobile LiDAR-Based Convergence Detection in Underground Tunnel Environments 

      Lynch, Brian K.; Marr, Jordan; Marshall, Joshua A.; Greenspan, Michael (2017-04-06)
      This paper presents a mobile LiDAR-based method for remotely identifying convergence (i.e., naturally occurring deformation) in excavated underground tunnel environments. A mobile LiDAR system is used to collect and generate ...
    • 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 ...