The number of registration solutions in the literature has bloomed recently. The iterative
closest point, for example, could be considered as the backbone of many laser-based …

This paper describes a collection of 272 three-dimensional laser scans gathered at two
unique planetary analogue rover test facilities in Canada, which offer emulated planetary …

In an effort to facilitate lighting-invariant exploration, this paper presents an appearance-
based approach using 3D scanning laser-rangefinders for two core visual navigation …

In this paper, we present two methods for obtaining visual odometry (VO) estimates using a
scanning laser rangefinder. Although common VO implementations utilize stereo camera …

In this paper, we present a robust framework suitable for conducting three‐dimensional
simultaneous localization and mapping (3D SLAM) in a planetary work site environment …

This paper describes a non-invasive, automatic, and robust method for calibrating a scalable
RGB-D sensor network based on retroreflective ArUco markers and the iterative closest …

In this paper, we present a method for obtaining Visual Odometry (VO) estimates using a
scanning laser rangefinder. Though common VO implementations utilize stereo camera …

Extrinsic sensor calibration is an important task in robotics. There are various ways to
perform the calibration task, but it often remains unclear which methods are better than the …

We propose a method for evaluating the localization accuracy of an indoor navigation
system in arbitrarily large environments. Instead of using externally mounted sensors, as …

In this paper, we describe the development and evaluation of a core algorithmic component
for robust robotic planetary surface mapping. In particular, we consider the issue of outlier …