{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/3d-bbs-global-localization-for-3d-point-cloud","title":"3D-BBS: Global Localization for 3D Point Cloud Scan Matching Using Branch-and-Bound Algorithm","arxiv_id":"2310.10023","date":"2023-10-16","proceeding":null,"authors":["Koki Aoki","Kenji Koide","Shuji Oishi","Masashi Yokozuka","Atsuhiko Banno","Junichi Meguro"],"abstract":"This paper presents an accurate and fast 3D global localization method, 3D-BBS, that extends the existing branch-and-bound (BnB)-based 2D scan matching (BBS) algorithm. To reduce memory consumption, we utilize a sparse hash table for storing hierarchical 3D voxel maps. To improve the processing cost of BBS in 3D space, we propose an efficient roto-translational space branching. Furthermore, we devise a batched BnB algorithm to fully leverage GPU parallel processing. Through experiments in simulated and real environments, we demonstrated that the 3D-BBS enabled accurate global localization with only a 3D LiDAR scan roughly aligned in the gravity direction and a 3D pre-built map. This method required only 878 msec on average to perform global localization and outperformed state-of-the-art global registration methods in terms of accuracy and processing speed.","url_abs":"https://arxiv.org/abs/2310.10023v5","url_pdf":"https://arxiv.org/pdf/2310.10023v5.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"links_only","authors_date_abstract":"arXiv metadata, CC0 1.0 (https://info.arxiv.org/help/license), from the Kaggle arXiv metadata snapshot of 2026-09-12"},"code_links":[{"paper_slug":"3d-bbs-global-localization-for-3d-point-cloud","repo_url":"https://github.com/kokiaoki/3d_bbs","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"none","reach":null}],"tasks":[],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}