Team AnnieWAY's autonomous system for the 2007 DARPA Urban Challenge

S Kammel, J Ziegler, B Pitzer, M Werling… - Journal of Field …, 2008 - Wiley Online Library
This paper reports on AnnieWAY, an autonomous vehicle that is capable of driving through
urban scenarios and that successfully entered the finals of the 2007 DARPA Urban …

An accurate closed-form estimate of ICP's covariance

A Censi - Proceedings 2007 IEEE international conference on …, 2007 - ieeexplore.ieee.org
Existing methods for estimating the covariance of the ICP (iterative closest/corresponding
point) algorithm are either inaccurate or are computationally too expensive to be used …

AA-ICP: Iterative closest point with Anderson acceleration

AL Pavlov, GWV Ovchinnikov… - … on robotics and …, 2018 - ieeexplore.ieee.org
Iterative Closest Point (ICP) is a widely used method for performing scan-matching and
registration. Being simple and robust, this method is still computationally expensive and may …

[PDF][PDF] Non-local scan consolidation for 3D urban scenes

Q Zheng, A Sharf, G Wan, Y Li, NJ Mitra… - ACM Trans …, 2010 - academia.edu
Recent advances in scanning technologies, in particular devices that extract depth through
active sensing, allow fast scanning of urban scenes. Such rapid acquisition incurs …

Lidar-based lane marker detection and map**

S Kammel, B Pitzer - 2008 ieee intelligent vehicles symposium, 2008 - ieeexplore.ieee.org
The detection of lane markers is a pre-requisite for many driver assistance systems as well
as for autonomous vehicles. In this paper, the lane marker detection approach that was …

Urban building reconstruction from raw LiDAR point data

C Yi, Y Zhang, Q Wu, Y Xu, O Remil, M Wei… - Computer-Aided …, 2017 - Elsevier
We present a method for automatic reconstruction of the volumetric structures of urban
buildings, directly from raw LiDAR point clouds. Given the large-scale LiDAR data from a …

On achievable accuracy for range-finder localization

A Censi - Proceedings 2007 IEEE International Conference on …, 2007 - ieeexplore.ieee.org
The covariance of every unbiased estimator is bounded by the Cramer-Rao lower bound,
which is the inverse of Fisher's information matrix. This paper shows that, for the case of …

How do ICP variants perform when used for scan matching terrain point clouds?

FA Donoso, KJ Austin, PR McAree - Robotics and Autonomous Systems, 2017 - Elsevier
Many variants of the Iterative Closest Point (ICP) algorithm have been proposed for
registering point clouds. This paper explores the performance of 20,736 ICP variants applied …

Revolution and rotation-based method for roadside LiDAR data integration

B Lv, H Xu, J Wu, Y Tian, S Tian, S Feng - Optics & Laser Technology, 2019 - Elsevier
Recently, roadside LiDAR has been applied to different transportation areas. Data
integration (point registration) for multiple LiDAR sensors is an important step to extend the …

6D scan registration using depth-interpolated local image features

H Andreasson, AJ Lilienthal - Robotics and Autonomous Systems, 2010 - Elsevier
This paper describes a novel registration approach that is based on a combination of visual
and 3D range information. To identify correspondences, local visual features obtained from …