학술논문
Differential Information Aided 3-D Registration for Accurate Navigation and Scene Reconstruction
Document Type
Conference
Author
Source
2021 IEEE International Conference on Robotics and Automation (ICRA) Robotics and Automation (ICRA), 2021 IEEE International Conference on. :9249-9254 May, 2021
Subject
Language
ISSN
2577-087X
Abstract
A novel 3-dimensional (3-D) alignment method for point-cloud registration is proposed where the time-differential information of the measured points is employed. The new problem turns out to be a novel multi-dimensional optimization. Analytical solution to this optimization is then obtained, which sets the ground of further correspondence matching using k-D trees. Finally, via many examples, we show that the new method owns better registration accuracy in real-world experiments.