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This paper provides a new solution to the simultaneous localization and mapping (SLAM) problem with six degrees of freedom. A fast variant of the iterative closest points (ICP) algorithm registers 3D scans taken by a mobile robot into a common coordinate system and thus provides relocalization. Hereby, data association is reduced to the problem of searching for closest points. Approximation algorithms for this searching, namely, approximate kd-trees and box decomposition trees, are presented and evaluated in this paper. A solution to 6D SLAM that considers all free parameters in the robot pose is built based on 3D scan matching
Nüchter et al. (Sat,) studied this question.
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