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An ICP variant using a point-to-line metric
Abstract
This paper describes PLICP, an ICP (iterative closest/corresponding point) variant that uses a point-to-line metric, and an exact closed-form for minimizing such metric. The resulting algorithm has some interesting properties: it converges quadratically, and in a finite number of steps. The method is validated against vanilla ICP, IDC (iterative dual correspondences), and MBICP (Metric-Based ICP) by reproducing the experiments performed in Minguez et al. (2006). The experiments suggest that PLICP is more precise, and requires less iterations. However, it is less robust to very large initial displacement errors. The last part of the paper is devoted to purely algorithmic optimization of the correspondence search; this allows for a significant speed-up of the computation. The source code is available for download.
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Object modeling by registration of multiple range images
Chen, Y., & Medioni, G. (2002) · Proceedings. 1991 IEEE International Conference on Robotics and Automation · doi:10.1109/robot.1991.132043 · Cited by 1,409
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Multiple-Robot Simultaneous Localization and Mapping: A Review
Saeedi, S., Trentini, M., Seto, M., & Li, H. (2016) · Journal of Field Robotics · doi:10.1002/rob.21620 · Cited by 324
Yang, H., Antonante, P., Tzoumas, V., & Carlone, L. (2020) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2020.2965893 · Cited by 325
A Comparative Analysis of LiDAR SLAM-Based Indoor Navigation for Autonomous Vehicles
Zou, Q., Sun, Q., Chen, L., Nie, B., & Li, Q. (2022) · IEEE Transactions on Intelligent Transportation Systems · doi:10.1109/tits.2021.3063477 · Cited by 321
A Single LiDAR-Based Feature Fusion Indoor Localization Algorithm
Wang, Y.-T., Peng, C.-C., Ravankar, A. A., & Ravankar, A. (2018) · Sensors · doi:10.3390/s18041294 · Cited by 84
Metadata
- Authors
- Censi, A.
- Venue
- 2008 IEEE International Conference on Robotics and Automation
- Publisher
- IEEE
- Published
- 2008-05
- Pages
- 19-25
- ISSN
- 1050-4729 (ISSN-L)
- OpenAlex
- W2130763585
- Cited by
- 626
- References
- 1
- FWCI
- 15.22
- Type
- conference paper
- Language
- en
- Open access
- closed
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