TY - GEN
T1 - Sequential scan matching with sensor order
AU - Song, Jianyu
AU - Li, Zexiang
PY - 2012
Y1 - 2012
N2 - ICP (Iterative Closest Point) algorithm plays an important role in sequential scan matching SLAM. In the algorithm, closest point searching is the well-recognized speed bottleneck. We realize that a searching-friendly structure already exists in the raw data sequence from range acquisition device, and the acquisition order, which we called sensor order, is naturally derived from sensor working mechanism. We show that considering these geometric relations, the searching space could be greatly reduced and can lead to an efficient 3D sequential scan matching algorithm.
AB - ICP (Iterative Closest Point) algorithm plays an important role in sequential scan matching SLAM. In the algorithm, closest point searching is the well-recognized speed bottleneck. We realize that a searching-friendly structure already exists in the raw data sequence from range acquisition device, and the acquisition order, which we called sensor order, is naturally derived from sensor working mechanism. We show that considering these geometric relations, the searching space could be greatly reduced and can lead to an efficient 3D sequential scan matching algorithm.
UR - https://openalex.org/W2128968966
UR - https://www.scopus.com/pages/publications/84864452404
U2 - 10.1109/ICRA.2012.6224712
DO - 10.1109/ICRA.2012.6224712
M3 - Conference Paper published in a book
SN - 9781467314039
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 4956
EP - 4961
BT - 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
Y2 - 14 May 2012 through 18 May 2012
ER -