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High quality 3D laser ranging under general vehicle motion

Abstract:

This paper describes an end-to-end system capable of generating high-quality 3D point clouds from the popular LMS200 laser on a continuously moving platform. We describe the hardware, data capture, calibration and data stream processing we have developed which yields remarkable detail in the generated point clouds of urban scenes. Given the increasing interest in outdoor 3D navigation and scene reconstruction by mobile platforms, our aim is to provide a level of hardware and algorithmic detai...

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Publication status:
Published

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Publisher copy:
10.1109/ROBOT.2008.4543179

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Pages:
7-12
Publication date:
2008-01-01
DOI:
ISSN:
1050-4729
URN:
uuid:298c0ff1-eb9d-4515-abbd-3e2482d532f6
Source identifiers:
65719
Local pid:
pubs:65719
ISBN:
978-1-4244-1646-2

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