3D Environment Mapping with a Variable Resolution NDT Method

With the continuous development of 3D LiDAR (Light Detection And Ranging) mapping algorithm and its application in various fields, size point cloud map becomes a bottleneck that limits from running for long time. In this paper, method based on scan-to-map variable resolution NDT (normal-distributions transform) registration is proposed. When updating global map, processing can reduce improve accuracy construction. addition, created by proportional to space does not grow infinitely over The experiments using rotating room, corridor, outdoor environments show has higher smaller than without considering strategy. experimental results construction time an appropriate test area illustrate built with fixed space. summary, adjusting adaptively according curvature different areas process, proposed strategy maintain almost Moreover, be improved as well.