Adam Leon Kleppe

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There are a vast number of methods for detecting obstacles, though not taking resource consumption into consideration. The proposed method is an obstacle detection and mapping method focused on systems with constrained memory capacity and processing power, and is called the Inverted Particle Filter. This method has small resource requirements , and can be(More)
This paper presents an approach for initial alignment or coarse registration of a partial 3D point cloud of objects. The method is based on computing the centroid of the points in the point cloud, and a line derived from the surface normals. This approach uses conformal geometric algebra and non-linear least squares optimization to achieve the results. The(More)
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