A review of point cloud registration algorithms for mobile robotics
The topic of this review is geometric registration in robotics. Registration algorithms
associate sets of data into a common coordinate system. They have been used extensively …
associate sets of data into a common coordinate system. They have been used extensively …
Challenging data sets for point cloud registration algorithms
The number of registration solutions in the literature has bloomed recently. The iterative
closest point, for example, could be considered as the backbone of many laser-based …
closest point, for example, could be considered as the backbone of many laser-based …
Registration with the point cloud library: A modular framework for aligning in 3-D
Registration is an important step when processing three-dimensional (3-D) point clouds.
Applications for registration range from object modeling and tracking, to simultaneous …
Applications for registration range from object modeling and tracking, to simultaneous …
A tutorial review on point cloud registrations: principle, classification, comparison, and technology challenges
A point cloud as a collection of points is poised to bring about a revolution in acquiring and
generating three‐dimensional (3D) surface information of an object in 3D reconstruction …
generating three‐dimensional (3D) surface information of an object in 3D reconstruction …
NICP: Dense normal based point cloud registration
J Serafin, G Grisetti - … on Intelligent Robots and Systems (IROS), 2015 - ieeexplore.ieee.org
In this paper we present a novel on-line method to recursively align point clouds. By
considering each point together with the local features of the surface (normal and curvature) …
considering each point together with the local features of the surface (normal and curvature) …
Teaser: Fast and certifiable point cloud registration
We propose the first fast and certifiable algorithm for the registration of two sets of three-
dimensional (3-D) points in the presence of large amounts of outlier correspondences. A …
dimensional (3-D) points in the presence of large amounts of outlier correspondences. A …
Efficient global point cloud registration by matching rotation invariant features through translation search
Three-dimensional rigid point cloud registration has many applications in computer vision
and robotics. Local methods tend to fail, causing global methods to be needed, when the …
and robotics. Local methods tend to fail, causing global methods to be needed, when the …
Point clouds registration with probabilistic data association
Although Point Clouds Registration is a very well studied problem, with many different
solutions, most of the approaches in the literature aims at aligning two dense point clouds …
solutions, most of the approaches in the literature aims at aligning two dense point clouds …
CICP: Cluster Iterative Closest Point for sparse–dense point cloud registration
ML Tazir, T Gokhool, P Checchin, L Malaterre… - Robotics and …, 2018 - Elsevier
Point cloud registration is an important and fundamental building block of mobile robotics. It
forms an integral part of the processes of mapping, localization, object detection and …
forms an integral part of the processes of mapping, localization, object detection and …
Fast and accurate scan registration through minimization of the distance between compact 3D NDT representations
T Stoyanov, M Magnusson… - … Journal of Robotics …, 2012 - journals.sagepub.com
Registration of range sensor measurements is an important task in mobile robotics and has
received a lot of attention. Several iterative optimization schemes have been proposed in …
received a lot of attention. Several iterative optimization schemes have been proposed in …