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Evaluation of 3D registration reliability and speed - A comparison of ICP and NDT
Open accessAbstract
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.
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Cites
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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FAST-LIO2: Fast Direct LiDAR-Inertial Odometry
Xu, W., Cai, Y., He, D., Lin, J., & Zhang, F. (2022) · IEEE Transactions on Robotics · doi:10.1109/tro.2022.3141876 · Cited by 1,750
A Review of Point Cloud Registration Algorithms for Mobile Robotics
Pomerleau, F., Colas, F., & Siegwart, R. (2015) · Foundations and Trends® in Robotics · doi:10.1561/2300000035 · Cited by 717
Voxelized GICP for Fast and Accurate 3D Point Cloud Registration
Koide, K., Yokozuka, M., Oishi, S., & Banno, A. (2021) · 2021 IEEE International Conference on Robotics and Automation (ICRA) · doi:10.1109/icra48506.2021.9560835 · Cited by 386
Akai, N., Morales, L. Y., Takeuchi, E., Yoshihara, Y., & Ninomiya, Y. (2017) · 2017 IEEE Intelligent Vehicles Symposium (IV) · doi:10.1109/ivs.2017.7995900 · Cited by 115
Metadata
- Authors
- Magnusson, M., Nuchter, A., Lorken, C., Lilienthal, A. J., & Hertzberg, J.
- Venue
- 2009 IEEE International Conference on Robotics and Automation
- Publisher
- IEEE
- Published
- 2009-05
- Pages
- 3907-3912
- ISSN
- 1050-4729 (ISSN-L)
- OpenAlex
- W2145178709
- Cited by
- 210
- References
- 1
- FWCI
- 12.40
- Type
- conference paper
- Language
- en
- Open access
- green
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- Magnusson, M., Nuchter, A., Lorken, C., Lilienthal, A. J., & Hertzberg, J. (2009). Evaluation of 3D registration reliability and speed - A comparison of ICP and NDT. 2009 IEEE International Conference on Robotics and Automation. https://doi.org/10.1109/robot.2009.5152538
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Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
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