51 citations · 117 across the 24 of their papers we have counts for
4 papers · 1 filter
3D-BBS: Global Localization for 3D Point Cloud Scan Matching Using Branch-and-Bound Algorithm
Koki Aoki, Kenji Koide, Shuji Oishi +3
This paper presents an accurate and fast 3D global localization method, 3D-BBS, that extends the existing branch-and-bound (BnB)-based 2D scan matching (BBS) algorithm. To reduce m…
Exact Point Cloud Downsampling for Fast and Accurate Global Trajectory Optimization
Kenji Koide, Shuji Oishi, Masashi Yokozuka +1
This paper presents a point cloud downsampling algorithm for fast and accurate trajectory optimization based on global registration error minimization. The proposed algorithm selec…
Single-Shot Global Localization via Graph-Theoretic Correspondence Matching
Shigemichi Matsuzaki, Kenji Koide, Shuji Oishi +2
This paper describes a method of global localization based on graph-theoretic association of instances between a query and the prior map. The proposed framework employs corresponde…
General, Single-shot, Target-less, and Automatic LiDAR-Camera Extrinsic Calibration Toolbox
Kenji Koide, Shuji Oishi, Masashi Yokozuka +1
This paper presents an open source LiDAR-camera calibration toolbox that is general to LiDAR and camera projection models, requires only one pairing of LiDAR and camera data withou…