Real-Time Graph-Based SLAM with Occupancy Normal Distributions Transforms
Cornelia Schulz,Andreas Zell,Cornelia Schulz,Andreas Zell
Simultaneous Localization and Mapping (SLAM) is one of the basic problems in mobile robotics. While most approaches are based on occupancy grid maps, Normal Distributions Transforms (NDT) and mixtures like Occupancy Normal Distribution Transforms (ONDT) have been shown to represent sensor measurements more accurately. In this work, we slightly re-formulate the (O)NDT matching function such that it...
