Institute of Computer Science — Knowledge-Based Systems Research Group
	Globally Consistent 3D Mapping with Scan Matching

by Dorit Borrmann, Jan Elseberg, Kai Lingemann, Andreas Nüchter, and Joachim Hertzberg

We have successfully matched a set of 3D laser scans provided by RIEGL Laser Measurement Systems - Laser Scanner. This page presents the matching results and includes videos and animations.

Figure: Map improvement during LUM. Main square in Horn (Austria). Progress after 1 (top), 30 (middle), 200 (bottom) iterations. Left: Top view, Middle: Monument in the center of the main square, Right: Church spire. Data provided by courtesy of RIEGL LMS GmbH.

Figure: Photos showing the scene presented in the previous figure. Left: The right part of the middle detailed view. Right: The white-steepled St. Georg church. Data provided by courtesy of RIEGL LMS GmbH.

Videos and Animations

Reference

• Dorit Borrmann, Jan Elseberg, Kai Lingemann, Andreas Nüchter and Joachim Hertzberg. Globally consistent 3D mapping with scan matching. Journal of Robotics and Autonomous Systems, Vol. 56, Issue 2, pages 130 - 142, February 2008, [ScienceDirect Link] [Get Paper] [Get Videos].

Acknowledgment