Metric-based iterative closest point scan matching for sensor displacement estimation.
Javier MinguezLuis MontesanoFlorent LamirauxPublished in: IEEE Trans. Robotics (2006)
Keyphrases
- iterative closest point
- displacement estimation
- icp algorithm
- point cloud
- range image registration
- surface matching
- object matching
- point sets
- partially overlapping
- range images
- matching algorithm
- hausdorff distance
- rigid registration
- metric space
- range data
- closest point
- feature matching
- object recognition
- mathematical framework
- graph matching
- image matching
- point set registration
- matching scheme
- exhaustive search
- face matching
- keypoints
- distance function
- mutual information