Two Dimensional Axis Mapping using LIDAR
Loading...
Authors
Gallant, Marc J.
Marshall, Joshua A.
Date
2016-02-04
Type
journal article
Language
en
Keyword
Mobile Robots , Mapping , Directional Statistics , LiDAR
Alternative Title
Abstract
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 information. As a consequence of the directional nature of the map, there are significant differences compared to traditional mapping algorithms. Experimental results are presented from simulated, indoor, outdoor, and underground environments. One major application of AMs is for heading estimation. An example of this application is shown to effectively bound the growth of heading error in both an indoor and an outdoor environment.