Tag: concurrent mapping and localisation of a vehicle

A research team custom-built a 3D laser range sensor for mapping the environment from a moving vehicle. The research group had previous experience with 2D laser mapping and positioning, and when extending their work to three dimensions was required to overcome a number of challenges. Most significantly, acquiring a full 3D scan takes much longer than a 2D scan, and therefore the data is susceptible to distortions due to the vehicle's motion. A software solution was developed and tested with the sensor mounted on a Bobcat driven around our research facility.