D. Hähnel and W. Burgard
Probabilistic Matching for 3D Scan Registration
In Proc. of the VDI-Conference Robotik 2002 (Robotik),
2002.
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.
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Bibtex
@InProceedings{haehnel02probabilistic,
author = {H{\"a}hnel, D. and Burgard,
W.},
title = {Probabilistic Matching for 3D Scan Registration},
booktitle = {Proc.~of the VDI-Conference Robotik 2002 (Robotik)},
year = {2002}
}