6D Simultaneous Localization and Mapping

Simultaneous Localization and Mapping (SLAM) with 6 degrees of freedom for creating 3D maps.

Abstract: This project consists of a software to register 3D point clouds into a common coordinate system, as well as a viewer to display the szene. For the registration, different ICP minimizing algorithms can be chosen, as well as global relaxation methods, aiming at generating an overall globally consistent szene. Several formats for the point clouds are supported, new formats can be implemented easily.