X-ICP: Localizability-Aware LiDAR Registration for Robust Localization in Extreme Environments.
Turcan TunaJulian NubertYoshua NavaShehryar KhattakMarco HutterPublished in: IEEE Trans. Robotics (2024)
Keyphrases
- point cloud
- iterative closest point
- point set registration
- accurate registration
- iterative closest point algorithm
- image registration
- localization method
- registration errors
- icp algorithm
- surface registration
- accurate localization
- laser scanner
- point sets
- structure from motion
- dynamic environments
- high resolution
- object matching
- rigid registration
- real world
- partially overlapping
- range images