论文题目:Normal Distributions Transform Occupancy Maps: Application to Large-Scale Online 3D Mapping
这篇论文结合了NDT和占用栅格地图的优点,同时对二者都结合3D激光雷达做了适应性改进,最终实现了既能够增量式更新地图表示,又能够移除动态物体的效果。
本篇论文的作者还有另外几篇论文,其实讲的是同样的东西,只不过把某些细节详细解释了一番,然后加了一些应用案例,如果对本篇论文有什么疑惑,可以参考他们,分别是:
1)3D Normal Distributions Transform Occupancy Maps: An Efficient Representation for Mapping in Dynamic Environments.
2)Fast 3D Mapping in Highly Dynamic Environments using Normal Distributions Transform Occupancy Maps.
3)Normal Distributions Transform Occupancy Map Fusion: Simultaneous
4)Mapping and Tracking in Large Scale Dynamic Environments
5)Normal Distributions Transform Traversability Maps: LIDAR-Only Approach for Traversability Mapping in Outdoor Environments
话说这种做法不算一稿多投吗,还是说这是灌水的常见做法?
一、整体思路
我们知道NDT和占用栅格地图是两种不同类型的点云表示方