Publication
FaMSA: Fast multi-scan alignment with partially known correspondences
Conference Article
Conference
European Conference on Mobile Robots (ECMR)
Edition
5th
Pages
139-144
Doc link
http://aass.oru.se/Agora/ECMR2011/documents/ECMR_2011_Program.pdf
File
Authors
Projects associated
Abstract
This paper presents FaMSA, an efficient method to boost 3D scan registration from partially known correspondence sets. This situation is typical at loop closure in large laser-based mapping sessions. In such cases, scan registration for consecutive point clouds has already been made during open loop traverse, and the point match history can be used to speed up the computation of new scan matches. FaMSA allows to quickly match a new scan with multiple consecutive scans at a time, with the consequent benefits in computational speed. Registration error is shown to be comparable to that of independent scan alignment. Results are shown for dense 3D outdoor scan matching.
Categories
automation, robots.
Author keywords
ICP, 3D scan registration, scan alignment
Scientific reference
E.H. Teniente and J. Andrade-Cetto. FaMSA: Fast multi-scan alignment with partially known correspondences, 5th European Conference on Mobile Robots, 2011, Örebro, Sweden, pp. 139-144, Örebro Univ.
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