I was employed as a research assistant on a casual basis for 4 months at Monash University while waiting for my thesis reviews to come back. During this time I worked on a laser localisation system using a 3D map collected from the Riegl scanner. We were able to localise in real-time with an accuracy of about 14cm and 1 degree using simple brute force scan matching. As an added bonus, we were able to see the predicted view in the 3D world as we drove, which could pave the way for some augmented reality applications.
Below is a clip showing a 3D walkthrough of Pomonal, where we did the experiments
You can download a PDF of the power point presentation describing what I did here
Results
Here are some screenshots of localisation results
The green path shows laser localisation results for tests done at Monash University.
A google map image of the test site at Monash University. This site was chosen because it represented a bush like environment.
The 3D map of the test site at Monash University.
Pomonal localisation results #1
Pomonal localisation results #2
An aerial shot of Pomonal.
3D map aerial shot of Pomonal.
4WD with a Velodyne mounted on top.
An example of a Velodyne scan with false colouring.