Paper Info
Title
Evaluation of 3D registration reliability and speed - A comparison of ICP and NDT
Abstract
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.
Year
DOI
Venue
2009
10.1109/ROBOT.2009.5152538
ICRA
Keywords
Field
DocType
normal distribution,normal distributions transform,mapping field experiment,iterative closest points algorithm,robotic science,original development process,mobile robots,3d scan registration,3d robotic mapping,larger valley,improved version,robotic mapping,different method,hands-on experience,transforms,image registration,iterative methods,robot vision,registration reliability,interpolation,robots,probability density function,algorithm design and analysis,convergence,accuracy,computer science,gaussian distribution
Convergence (routing),Data mining,Normal distribution,Computer science,Interpolation,Nondestructive testing,Control engineering,Artificial intelligence,Computer vision,Iterative method,Robotic mapping,Robot,Image registration
Conference
Volume
Issue
ISSN
2009
1
1050-4729 E-ISBN : 978-1-4244-2789-5
ISBN
Citations 
PageRank 
978-1-4244-2789-5
55
1.94
References 
Authors
7
5
Name
Order
Citations
PageRank
Martin Magnusson128712.86
Andreas Nüchter2134190.03
Christopher Lörken3643.65
Achim J. Lilienthal41468113.18
Joachim Hertzberg51571142.29