Improving the performance of ICP for real-time applications using an approximate nearest neighbour search

Marden S; Guivant J, 2012, 'Improving the performance of ICP for real-time applications using an approximate nearest neighbour search', Australasian Conference on Robotics and Automation, ACRA, New Zealand

Details

Date
2014

Abstract / Description

Matching of 3D scans is performed using a modified version of the Iterative Closest Point algorithm with a grid data structure that provides constant time searching and insertion for approximate nearest neighbour searches. The algorithm is shown to be faster and more accurate than traditional Iterative Closest Point scan matching using a kd-tree.

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