3D-BBS: Global Localization for 3D Point Cloud Scan Matching Using Branch-and-Bound Algorithm
Koki Aoki,Kenji Koide,Shuji Oishi,Masashi Yokozuka,Atsuhiko Banno,Junichi Meguro,Koki Aoki,Kenji Koide,Shuji Oishi,Masashi Yokozuka,Atsuhiko Banno,Junichi Meguro
This paper presents an accurate and fast 3D global localization method, 3D-BBS, that extends the existing branchand-bound (BnB)-based 2D scan matching (BBS) algorithm. To reduce memory consumption, we utilize a sparse hash table for storing hierarchical 3D voxel maps. To improve the processing cost of BBS in 3D space, we propose an efficient roto-translational space branching. Furthermore, we devi...
