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
Here are some screenshots of localisation results