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A Multi-Layered 3D NDT Scan-Matching Method for Robust Localization in Logistics Warehouse Environments
This paper proposed a multi-layered 3D NDT (normal distribution transform) scan-matching approach for robust localization even in the highly dynamic environment of warehouse logistics. Our approach partitioned a given 3D point-cloud map and the scan measurements into several layers regarding the deg...
| Autores principales: | , , |
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| Formato: | Online Artículo Texto |
| Lenguaje: | English |
| Publicado: |
MDPI
2023
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| Materias: | |
| Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10007157/ https://www.ncbi.nlm.nih.gov/pubmed/36904876 http://dx.doi.org/10.3390/s23052671 |