TY - GEN
T1 - Evaluation of 3D registration reliability and speed-A comparison of ICP and NDT
AU - Magnusson, Martin
AU - Nüchter, Andreas
AU - Lörken, Christopher
AU - Lilienthal, Achim J.
AU - Hertzberg, Joachim
PY - 2009
Y1 - 2009
N2 - To advance robotic science it is important to perform experiments that can be replicated by other researchers to compare different methods. However, these comparisons tend to be biased, since re-implementations of reference methods often lack thoroughness and do not include the hands-on experience obtained during the original development process. This paper presents a thorough comparison of 3D scan registration algorithms based on a 3D mapping field experiment, carried out by two research groups that are leading in the field of 3D robotic mapping. The iterative closest points algorithm (ICP) is compared to the normal distributions transform (NDT). We also present an improved version of NDT with a substantially larger valley of convergence than previously published versions.
AB - To advance robotic science it is important to perform experiments that can be replicated by other researchers to compare different methods. However, these comparisons tend to be biased, since re-implementations of reference methods often lack thoroughness and do not include the hands-on experience obtained during the original development process. This paper presents a thorough comparison of 3D scan registration algorithms based on a 3D mapping field experiment, carried out by two research groups that are leading in the field of 3D robotic mapping. The iterative closest points algorithm (ICP) is compared to the normal distributions transform (NDT). We also present an improved version of NDT with a substantially larger valley of convergence than previously published versions.
UR - http://www.scopus.com/inward/record.url?scp=70350379409&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2009.5152538
DO - 10.1109/ROBOT.2009.5152538
M3 - Conference contribution
AN - SCOPUS:70350379409
SN - 9781424427895
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 3907
EP - 3912
BT - 2009 IEEE International Conference on Robotics and Automation, ICRA '09
T2 - 2009 IEEE International Conference on Robotics and Automation, ICRA '09
Y2 - 12 May 2009 through 17 May 2009
ER -