Space exploration and exploitation depend on the development of on-orbit robotic
capabilities for tasks such as servicing of satellites, removing of orbital debris, or …

Point cloud registration aims to find a rigid transformation for aligning one point cloud to
another. Such registration is a fundamental problem in computer vision and robotics, and …

The iterative closest point (ICP) algorithm is widely used in three-dimensional (3D) point
cloud registration, and it is very stable and robust. However, its biggest drawback is being …

Scan registration is an essential subtask when building maps based on range finder data
from mobile robots. The problem is to deduce how the robot has moved between …

This dissertation is concerned with three-dimensional (3D) sensing and 3D scan
representation. Three-dimensional records are important tools in several, quite diverse …

This paper proposes a 3D LiDAR aided global navigation satellite system (GNSS) non-line-
of-sight (NLOS) mitigation method due to both static buildings and dynamic objects. A sliding …

Building information modelling (BIM) is evolving significantly in the architecture, engineering
and construction industries. BIM involves various remote-sensing tools, procedures and …

Abstract 6D SLAM (simultaneous localization and map**) or 6D concurrent localization
and map** of mobile robots considers six dimensions for the robot pose, namely, the x, y …

Traditional simultaneous localization and map** (SLAM) algorithms have been used to
great effect in flat, indoor environments such as corridors and offices. We demonstrate that …

Over the past years, 3D point cloud registration has attracted unprecedented attention.
Researchers develop various approaches to tackle the challenging task, such as …