4D scan registration with the SR-3000 LIDAR

  title={4D scan registration with the SR-3000 LIDAR},
  author={Jason A. Stipes and John G. P. Cole and J. Humphreys},
  journal={2008 IEEE International Conference on Robotics and Automation},
An algorithm and data management scheme is presented to utilize the data output of the SR-3000, a 3D LIDAR sensor. The SR-3000 generates a 4D point cloud at video frame rates where each point is described by its 3D coordinates and its optical intensity. The implementation of each major component of the algorithm is described, including a projective ICP algorithm, reverse calibration equations for the SR-3000 sensor, the processing of the intensity data, and a point selection algorithm which… CONTINUE READING


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