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Research ArticleOriginal Article
Open Access

AGPC-SLAM: Absolute Ground Plane Constrained 3D Lidar SLAM

Weisong Wen and Li-Ta Hsu
NAVIGATION: Journal of the Institute of Navigation September 2022, 69 (3) navi.527; DOI: https://doi.org/10.33012/navi.527
Weisong Wen
Hong Kong Polytechnic University
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Li-Ta Hsu
Hong Kong Polytechnic University
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  • For correspondence: [email protected]
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NAVIGATION: Journal of the Institute of Navigation: 69 (3)
NAVIGATION: Journal of the Institute of Navigation
Vol. 69, Issue 3
Fall 2022
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AGPC-SLAM: Absolute Ground Plane Constrained 3D Lidar SLAM
Weisong Wen, Li-Ta Hsu
NAVIGATION: Journal of the Institute of Navigation Sep 2022, 69 (3) navi.527; DOI: 10.33012/navi.527

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AGPC-SLAM: Absolute Ground Plane Constrained 3D Lidar SLAM
Weisong Wen, Li-Ta Hsu
NAVIGATION: Journal of the Institute of Navigation Sep 2022, 69 (3) navi.527; DOI: 10.33012/navi.527
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  • Article
    • Abstract
    • 1 INTRODUCTION
    • 2 RELATED WORK
    • 3 OVERVIEW OF THE PROPOSED METHOD
    • 4 METHODOLOGY
    • 5 EXPERIMENT RESULTS AND DISCUSSIONS
    • 6 CONCLUSION AND FUTURE WORK
    • HOW TO CITE THIS ARTICLE
    • APPENDIX: PERFORMANCE OF AGPC-SLAM AT 6 GCPS
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Keywords

  • dynamic object
  • ground plane constraint
  • lidar SLAM
  • urban canyons

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