A generalization of the metric-based Iterative Closest Point technique for 3D scan matching

@article{Armesto2010AGO,
  title={A generalization of the metric-based Iterative Closest Point technique for 3D scan matching},
  author={Leopoldo Armesto and Javier Minguez and Luis Montesano},
  journal={2010 IEEE International Conference on Robotics and Automation},
  year={2010},
  pages={1367-1372}
}
Scan matching techniques have been widely used to compute the displacement of robots. This estimate is part of many algorithms addressing navigation and mapping. This paper addresses the scan matching problem in three dimensional workspaces. We propose an generalization of the Metric based Iterative Closest Point (MbICP) to the 3D case. The main contribution is the development of all the mathematical tools required to formulate the ICP with this new metric, including the derivation of point to… CONTINUE READING
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  • For this analysis, we considered only the true positives and define the error (25 mm and 0.25 degrees) in three equal intervals corresponding to high (H), medium (M) and low (L) precision.

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