10 citations · 40 across the 6 of their papers we have counts for
4 papers · 1 filter
Characterizing Perspective Error in Voxel-Based Lidar Scan Matching
Jason Rife, Matthew McDermott
This paper quantifies an error source that limits the accuracy of lidar scan matching, particularly for voxel-based methods. Lidar scan matching, which is used in dead reckoning (a…
ICET Online Accuracy Characterization for Geometry-Based Laser Scan Matching
Matthew McDermott, Jason Rife
Distribution-to-Distribution (D2D) point cloud registration algorithms are fast, interpretable, and perform well in unstructured environments. Unfortunately, existing strategies fo…
Mitigating Shadows in Lidar Scan Matching using Spherical Voxels
Matthew McDermott, Jason Rife
In this paper we propose an approach to mitigate shadowing errors in Lidar scan matching, by introducing a preprocessing step based on spherical gridding. Because the grid aligns w…
Enhanced Laser-Scan Matching with Online Error Estimation for Highway and Tunnel Driving
Matthew McDermott, Jason Rife
Lidar data can be used to generate point clouds for the navigation of autonomous vehicles or mobile robotics platforms. Scan matching, the process of estimating the rigid transform…