A Review of Point Cloud Registration Algorithms for Mobile Robotics
نویسندگان
چکیده
منابع مشابه
A Review of Point Cloud Registration Algorithms for Mobile Robotics
The topic of this review is geometric registration in robotics. Registration algorithms associate sets of data into a common coordinate system. They have been used extensively in object reconstruction, inspection, medical application, and localization of mobile robotics. We focus on mobile robotics applications in which point clouds are to be registered. While the underlying principle of those ...
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The number of registration solutions in the literature has bloomed recently. The iterative closest point, for example, could be considered as the backbone of many laser-based localization and mapping systems. Although they are widely used, it is a common challenge to compare registration solutions on a fair base. The main limitation is to overcome the lack of accurate ground truth in current da...
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As in Section 4.3, this objective is minimized using the Gauss-Newton method. Specifically, we start from an initial transformation T and perform optimization iteratively. In each iteration, we locally parameterize T with a 6-vector ξ, evaluate the residual r and Jacobian Jr at T, solve the linear system in (21) to compute ξ, and use ξ to update T. To compute the Jacobian, we need the partial d...
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ژورنال
عنوان ژورنال: Foundations and Trends in Robotics
سال: 2015
ISSN: 1935-8253,1935-8261
DOI: 10.1561/2300000035