X-ICP: Localizability-Aware LiDAR Registration for Robust Localization in Extreme Environments.
Turcan TunaJulian NubertYoshua NavaShehryar KhattakMarco HutterPublished in: CoRR (2022)
Keyphrases
- point cloud
- accurate registration
- iterative closest point algorithm
- iterative closest point
- point set registration
- icp algorithm
- localization method
- registration accuracy
- feature based registration
- surface registration
- image registration
- range images
- registration errors
- partially overlapping
- accurate localization
- image guided
- point sets
- structure from motion
- mutual information
- high resolution
- registration process
- object localization
- range data