Mobile robot localisation on reconstructed 3D models
This paper presents a two-layer mobile robot localisation solution based on a Laser Range Scanner applied on reconstructed 3D models. This solution encompasses a feature matching layer performing without an initial posture estimate; a second layer based on coordinate transforms to refine an initial posture estimate, and a third module to assess the likelihood of the results computed by the two layers.
mobile robot localisation laser scanner 3d scene reconstruction frame localisation