Probabilistic Matching for 3D Scan Registration

Probabilistic Matching for 3D Scan Registration (2002)

by Dirk Hähnel , Wolfram Burgard

Venue:	In.: Proc. of the VDI - Conference Robotik 2002 (Robotik
Citations:	4 - 0 self

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Datum	Value	Source
TITLE	Probabilistic Matching for 3D Scan Registration	user correction - Legacy Corrections
AUTHOR NAME	Dirk Hähnel	SVM HeaderParse 0.1
AUTHOR AFFIL	Department of Computer Science, University of Freiburg	SVM HeaderParse 0.2
AUTHOR ADDR	79110 Freiburg, Germany	SVM HeaderParse 0.1
AUTHOR NAME	Wolfram Burgard	SVM HeaderParse 0.1
AUTHOR AFFIL	Department of Computer Science, University of Freiburg	SVM HeaderParse 0.2
AUTHOR ADDR	79110 Freiburg, Germany	SVM HeaderParse 0.1
ABSTRACT	In this paper we consider the problem of three-dimensional scan registration for autonomous mobile vehicles. The problem of 3D scan matching is of enormous importance for the construction of metric representations of the environment, for localization, and for navigation planning in the three-dimensional space. We present a probabilistic technique that computes a probability density for each pair of scans and then performs the registration using a greedy hill-climbing search in the likelihood space. We compare our approach with the ICP-algorithm which currently is the most popular technique for matching 3D range scans. We present experiments illustrating that the estimation error of the ICP algorithm is significantly higher than the resulting error obtained with our probabilistic approach.	user correction - Legacy Corrections
YEAR	2002	INFERENCE
VENUE	In.: Proc. of the VDI - Conference Robotik 2002 (Robotik	INFERENCE
VENUE TYPE	CONFERENCE	INFERENCE
CITATIONS	15 found	ParsCit 1.0