Localization of a mobile laser scanner via dimensional reduction

Ville V. Lehtola*, Juho Pekka Virtanen, Matti T. Vaaja, Hannu Hyyppä, Andreas Nüchter

*Corresponding author for this work

Research output: Contribution to journalArticleScientificpeer-review

12 Citations (Scopus)


We extend the concept of intrinsic localization from a theoretical one-dimensional (1D) solution onto a 2D manifold that is embedded in a 3D space, and then recover the full six degrees of freedom for a mobile laser scanner with a simultaneous localization and mapping algorithm (SLAM). By intrinsic localization, we mean that no reference coordinate system, such as global navigation satellite system (GNSS), nor inertial measurement unit (IMU) are used. Experiments are conducted with a 2D laser scanner mounted on a rolling prototype platform, VILMA. The concept offers potential in being extendable to other wheeled platforms.

Original languageEnglish
Pages (from-to)48-59
Number of pages12
JournalISPRS Journal of Photogrammetry and Remote Sensing
Publication statusPublished - 1 Nov 2016
MoE publication typeA1 Journal article-refereed


  • 3D reconstruction
  • Lidar
  • Localization
  • Positioning
  • Slam

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