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…