Generalized-ICP

@inproceedings{Segal2009GeneralizedICP,
  title={Generalized-ICP},
  author={Aleksandr V. Segal and Dirk H{\"a}hnel and Sebastian Thrun},
  booktitle={Robotics: Science and Systems},
  year={2009}
}
In this paper we combine the Iterative Closest Point (’ICP’) and ‘point-to-plane ICP‘ algorithms into a single probabilistic framework. We then use this framework to model locally planar surface structure from both scans instead of just the ”model” scan as is typically done with the point-to-plane method. This can be thought of as ‘plane-to-plane’. The new approach is tested with both simulated and real-world data and is shown to outperform both standard ICP and point-to-plane. Furthermore, the… Expand
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TLDR
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TLDR
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TLDR
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