A Generalization of the Metric-Based Iterative Closest Point Technique for 3D Scan Matching

被引：18

作者：

Armesto, Leopoldo ^{[1
]}

Minguez, Javier ^{[2
]}

Montesano, Luis ^{[2
]}

机构：

[1] Univ Politecn Valencia, Control & Syst Engn, E-46071 Valencia, Spain

[2] Univ Zaragoza, Dept Comp Sci, E-50009 Zaragoza, Spain

来源：

2010 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) | 2010年

关键词：

D O I：

10.1109/ROBOT.2010.5509371

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Scan matching techniques have been widely used to compute the displacement of robots. This estimate is part of many algorithms addressing navigation and mapping. This paper addresses the scan matching problem in three dimensional workspaces. We propose an generalization of the Metric based Iterative Closest Point (MbICP) to the 3D case. The main contribution is the development of all the mathematical tools required to formulate the ICP with this new metric, including the derivation of point to plane distances based on the new metric. We also provide experimental results to evaluate the algorithms and different combinations of ICP and MbICP to illustrate the advantages of the metric based approach.

引用

页码：1367 / 1372

页数：6

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