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This paper presents a global localization method for mobile robots based on the geometric information of structured indoor environments. With a global/local point cloud and projection map, lines are extracted from the projection maps using Hough transform. According to the directions of the obtained lines, the orientations of projection maps and point clouds are normalized. Next, the template matching...
Fully automatic 3-D point cloud registration is a highly challenging task in light detection and ranging (LiDAR) remote sensing. The coherent point drift (CPD) algorithm provides an appropriate solution for point cloud registration because of its high accuracy. However, real application of the traditional CPD algorithm is limited due to its demanding computational complexity. In this letter, we present...
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