most citedFeatSense -- A Feature-based Registration Algorithm with GPU-accelerated TSDF-Mapping Backend for NVIDIA Jetson Boards

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cs.RO2023★ 1 cited

FeatSense -- A Feature-based Registration Algorithm with GPU-accelerated TSDF-Mapping Backend for NVIDIA Jetson Boards

Julian Gaal, Thomas Wiemann, Alexander Mock +1

This paper presents FeatSense, a feature-based GPU-accelerated SLAM system for high resolution LiDARs, combined with a map generation algorithm for real-time generation of large Tr…

cs.RO2023

Towards 6D MCL for LiDARs in 3D TSDF Maps on Embedded Systems with GPUs

Marc Eisoldt, Alexander Mock, Mario Porrmann +1

Monte Carlo Localization is a widely used approach in the field of mobile robotics. While this problem has been well studied in the 2D case, global localization in 3D maps with six…