3D SLAM in texture-less environments using rank order statistics

@article{Yousif20153DSI,
  title={3D SLAM in texture-less environments using rank order statistics},
  author={Khalid Yousif and Alireza Bab-Hadiashar and Reza Hoseinnezhad},
  journal={Robotica},
  year={2015},
  volume={35},
  pages={809 - 831}
}
SUMMARY We present a real time 3D SLAM system for texture-less scenes using only depth information provided by a low cost RGB-D sensor. The proposed method is based on a novel informative sampling scheme that extracts points carrying the most useful 3D information for registration. The aim of the proposed sampling technique is to informatively sample a point cloud into a subset of points based on their 3D information. The flatness of a point is measured by applying a rank order statistics based… 
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