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Evaluation of 3D registration reliability and speed: a comparison of ICP and NDT
Örebro University, School of Science and Technology. (AASS Learning Systems Lab)ORCID iD: 0000-0001-8658-2985
Jacobs University Bremen, Bremen, Germany; Knowledge Systems Research Group of the Institute of Computer Science, University of Osnabrück, Germany.
Institute of Computer Science, University of Osnabrück, Germany. (Knowledge Systems Research Group)
Örebro University, School of Science and Technology. (AASS Learning Systems Lab)ORCID iD: 0000-0003-0217-9326
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2009 (English)In: Proceedings of the 2009 IEEE international conference on Robotics and Automation, ICRA'09, IEEE conference proceedings, 2009, p. 2263-2268Conference paper, Published paper (Refereed)
Abstract [en]

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.

Place, publisher, year, edition, pages
IEEE conference proceedings, 2009. p. 2263-2268
Series
IEEE International Conference on Robotics and Automation ICRA, ISSN 1050-4729
National Category
Engineering and Technology Computer Sciences
Research subject
Computer and Systems Science
Identifiers
URN: urn:nbn:se:oru:diva-8446DOI: 10.1109/ROBOT.2009.5152538ISI: 000276080401054Scopus ID: 2-s2.0-70350379409ISBN: 9781424427888 (print)ISBN: 9781424427895 (electronic)OAI: oai:DiVA.org:oru-8446DiVA, id: diva2:274922
Conference
2009 IEEE International Conference on Robotics and Automation (ICRA'09), Kobe, Japan, May 12-17, 2009
Note

Funding Agency:

Atlas Copco Rock Drills 

Available from: 2009-11-09 Created: 2009-11-02 Last updated: 2018-01-12Bibliographically approved

Open Access in DiVA

Presentation(195 kB)286 downloads
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Magnusson, MartinLilienthal, Achim J.

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