In my talk I will present my work regarding 3D mapping using lidar scanners. I will give an overview of the SLAM problem and its main challenges: robustness, accuracy and processing speed. Regarding robustness and accuracy, we investigate a better point cloud representation based on resampling and surface reconstruction. Moreover, we demonstrate how it can be incorporated in an ICP-based scan matching technique. Finally, we elaborate on globally consistent mapping using loop closures. Regarding processing speed, we propose the integration of our scan matching in a multi-resolution scheme and a GPU-accelerated implementation using our programming language Quasar.
Biography: Michiel Vlaminck was born in Tielt, Belgium on June 22, 1990. He attended De Bron secondary school in Tielt, studying Science and Mathematics. In 2008 he started studies on computer science at Ghent University, graduating as a Master of Science in computer science engineering in June 2013. Since January 2014, he has been working as a PhD student at the Image Processing and Interpretation (IPI) research group of Ghent university.