%0 Journal Article %1 JPRS2016 %A Lehtola, V. V. %A Virtanen, J.-P. %A Vaaja, M. T. %A Hyyppä, H. %A Nüchter, A. %D 2016 %J ISPRS Journal of Photogrammetry and Remote Sensing (JPRS) %K imported %P 48--59 %R 10.1016/j.isprsjprs.2016.09.004 %T Localization of a Mobile Laser Scanner via Dimensional Reduction %U https://robotik.informatik.uni-wuerzburg.de/telematics/download/jprs2016.pdf %V 121 %X We extend the concept of intrinsic localization from a theoretical one-dimensional (1D) solution onto a 2D manifold that is embedded in a 3D space, and then recover the full six degrees of freedom for a mobile laser scanner with a simultaneous localization and mapping algorithm (SLAM). By intrinsic localization, we mean that no reference coordinate system, such as global navigation satellite system (GNSS), nor inertial measurement unit (IMU) are used. Experiments are conducted with a 2D laser scanner mounted on a rolling prototype platform, VILMA. The concept offers potential in being extendable to other wheeled platforms.

@article{JPRS2016, abstract = {We extend the concept of intrinsic localization from a theoretical one-dimensional (1D) solution onto a 2D manifold that is embedded in a 3D space, and then recover the full six degrees of freedom for a mobile laser scanner with a simultaneous localization and mapping algorithm (SLAM). By intrinsic localization, we mean that no reference coordinate system, such as global navigation satellite system (GNSS), nor inertial measurement unit (IMU) are used. Experiments are conducted with a 2D laser scanner mounted on a rolling prototype platform, VILMA. The concept offers potential in being extendable to other wheeled platforms.}, added-at = {2017-09-19T13:40:53.000+0200}, author = {Lehtola, V. V. and Virtanen, J.-P. and Vaaja, M. T. and Hyypp{\"a}, H. and N{\"u}chter, A.}, biburl = {https://www.bibsonomy.org/bibtex/223f8badad5f57f4c2bf955997dd7f651/nuechter76}, doi = {10.1016/j.isprsjprs.2016.09.004}, interhash = {ea617a568245a67b627bf9dd80c516da}, intrahash = {23f8badad5f57f4c2bf955997dd7f651}, journal = {ISPRS Journal of Photogrammetry and Remote Sensing (JPRS)}, keywords = {imported}, month = {November}, pages = {48--59}, timestamp = {2017-09-29T16:01:21.000+0200}, title = {{Localization of a Mobile Laser Scanner via Dimensional Reduction}}, url = {https://robotik.informatik.uni-wuerzburg.de/telematics/download/jprs2016.pdf}, volume = 121, year = 2016 }