How do ICP variants perform when used for scan matching terrain point clouds?

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• 作者：F.A. Donoso ; ^{felipe.donoso@uq.edu.au}Author Vitae ; K.J. Austin ^{kevin.austin@uq.edu.au}Author Vitae ; P.R. McAree ^{p.mcaree@uq.edu.au}Author Vitae
• 关键词：Iterative closest point ; Terrain mapping ; Point cloud registration algorithms
• 刊名：Robotics and Autonomous Systems
• 出版年：2017
• 出版时间：January 2017
• 年：2017
• 卷：87
• 期：Complete
• 页码：147-161
• 全文大小：4190 K
• 卷排序：87

文摘

No single variant satisfies all performance criteria. The performance of ICP based terrain mapping vary significantly across ICP variants. A judicios selection of the ICP variant is imperative to meet a minimum performance. The performance of ICP variants depends on the scene. Computational efficiency is not traded for computational accuracy or precision.