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A comparison of 3D registration algorithms for autonomous underground mining vehicles
Örebro University, Department of Technology. (Learning Systems Lab)ORCID iD: 0000-0001-8658-2985
Örebro University, Department of Technology. (Learning Systems Lab)
2005 (English)Conference paper, Oral presentation only (Refereed)
Abstract [en]

The ICP algorithm and its derivatives is the de facto standard for registration of 3D range-finder scans today. This paper presents a quantitative comparison between ICP and 3D NDT, a novel approach based on the normal distributions transform. The new method ad- dresses two of the main problems of ICP: the fact that it does not make use of the local surface shape and the computationally demanding nearest-neighbour search. The results show that 3D NDT produces accurate results much faster, though it is more sensitive to error in the initial pose estimate.

Place, publisher, year, edition, pages
2005.
National Category
Mechanical Engineering
Research subject
Mechanical Engineering
Identifiers
URN: urn:nbn:se:oru:diva-3964OAI: oai:DiVA.org:oru-3964DiVA, id: diva2:138263
Conference
2nd European Conference on Mobile Robots, ECMR 2005, Ancona, Italy, September 7-10
Available from: 2007-08-27 Created: 2007-08-27 Last updated: 2017-10-18Bibliographically approved

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Magnusson, MartinDuckett, Tom

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