Evaluation of 3D registration reliability and speed-A comparison of ICP and NDT
Autor(en): | Magnusson, M. Nüchter, A. Lörken, C. Lilienthal, A.J. Hertzberg, J. |
Stichwörter: | 3-D mapping; 3D registration; Development process; Field experiment; Hands-on experiences; Iterative closest points algorithms; Reference method; Registration algorithms; Research groups; Robotic mapping; Robotic science, Algorithms; Inductively coupled plasma; Normal distribution; Robotics; Robots, Three dimensional | Erscheinungsdatum: | 2009 | Enthalten in: | Proceedings - IEEE International Conference on Robotics and Automation | Startseite: | 3907 | Seitenende: | 3912 | Zusammenfassung: | To advance robotic science it is important to perform experiments that can be replicated by other researchers to compare different methods. However, these comparisons tend to be biased, since re-implementations of reference methods often lack thoroughness and do not include the hands-on experience obtained during the original development process. This paper presents a thorough comparison of 3D scan registration algorithms based on a 3D mapping field experiment, carried out by two research groups that are leading in the field of 3D robotic mapping. The iterative closest points algorithm (ICP) is compared to the normal distributions transform (NDT). We also present an improved version of NDT with a substantially larger valley of convergence than previously published versions.© 2009 IEEE. |
Beschreibung: | Conference of 2009 IEEE International Conference on Robotics and Automation, ICRA '09 ; Conference Date: 12 May 2009 Through 17 May 2009; Conference Code:77661 |
ISBN: | 9781424427895 | ISSN: | 10504729 | DOI: | 10.1109/ROBOT.2009.5152538 | Externe URL: | https://www.scopus.com/inward/record.uri?eid=2-s2.0-70350379409&doi=10.1109%2fROBOT.2009.5152538&partnerID=40&md5=aa7bce1b231ce38d58f459fc7db3e32f |
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