Beyond points: Evaluating recent 3D scan-matching algorithms

  title={Beyond points: Evaluating recent 3D scan-matching algorithms},
  author={Martin Magnusson and Narunas Vaskevicius and Todor Stoyanov and Kaustubh Pathak and Andreas Birk},
  journal={2015 IEEE International Conference on Robotics and Automation (ICRA)},
Given that 3D scan matching is such a central part of the perception pipeline for robots, thorough and large-scale investigations of scan matching performance are still surprisingly few. A crucial part of the scientific method is to perform experiments that can be replicated by other researchers in order to compare different results. In light of this fact, this paper presents a thorough comparison of 3D scan registration algorithms using a recently published benchmark protocol which makes use… CONTINUE READING
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