6D SLAM with Cached kd-tree Search

6D SLAM (Simultaneous Localization and Mapping) or 6D Concurrent Localization and Mapping of mobile robots considers six degrees of freedom for the robot pose, namely, the x, y and z coordinates and the roll, yaw and pitch angles. In previous work we presented our scan matching based 6D SLAM approach [10

• Type: Conference
• Year: 2006
• Where: DAGSTUHL
• Authors: Andreas Nüchter, Kai Lingemann, Joachim Hertzberg
• Keywords: Closest Points, DAGSTUHL 2006, DAGSTUHL 2007, Mobile Robots Considers, Scan Matching