This study had two main aims:(1) to provide a comprehensive review of terrestrial laser
scanner (TLS) point cloud registration methods and a better understanding of their strengths …

Point cloud registration is a fundamental problem in 3D computer vision, graphics and
robotics. For the last few decades, existing registration algorithms have struggled in …

We present DeepVCP-a novel end-to-end learning-based 3D point cloud registration
framework that achieves comparable registration accuracy to prior state-of-the-art geometric …

This paper presents the voxelized generalized iterative closest point (VGICP) algorithm for
fast and accurate three-dimensional point cloud registration. The proposed approach …

Accurate and reliable localization and map** is a fundamental building block for most
autonomous robots. For this purpose, we propose a novel, dense approach to laserbased …

Although Global Navigation Satellite Systems (GNSSs) generally provide adequate
accuracy for outdoor localization, this is not the case for indoor environments, due to signal …

A local Bundle Adjustment (BA) on a sliding window of keyframes has been widely used in
visual SLAM and proved to be very effective in lowering the drift. But in lidar SLAM, BA …

In this paper, we present a novel global descriptor M2DP for 3D point clouds, and apply it to
the problem of loop closure detection. In M2DP, we project a 3D point cloud to multiple 2D …

Recent developments in sensor technologies such as Global Navigation Satellite Systems
(GNSS), Inertial Measurement Unit (IMU), Light Detection and Ranging (LiDAR), radar, and …