Multi channel generalized-ICP

  title={Multi channel generalized-ICP},
  author={James Servos and Steven Lake Waslander},
  journal={2014 IEEE International Conference on Robotics and Automation (ICRA)},
Current state of the art scan registration algorithms which use only position information often fall victim to correspondence ambiguity and degeneracy in the optimization solutions. Other methods which use additional channels, such as color or intensity, often use only a small fraction of the available information and ignore the underlying structural information of the added channels. The proposed method incorporates the additional channels directly into the scan registration formulation to… CONTINUE READING


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