An ICP variant using a point-to-line metric

By Andrea Censi. IEEE International Conference on Robotics and Automation, 2008

667 citations recorded by the source corpus.

Subfields: Aerospace Engineering, Computer Vision and Pattern Recognition, Electrical and Electronic Engineering

View Paper: https://www.semanticscholar.org/paper/a8b94772eaf8ed592cb0864ee0eebb1b62f73a52

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In Aerospace Engineering

In Computer Vision and Pattern Recognition

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Citations in the corpus

Learning Motion Skills from Expert Demonstrations and Own Experience using Gaussian Process Regression (2010, background): “The distance measure dist computes the mean squared distance between the two trajectories by averaging a point-to-line metric which was inspired by [14].”
3-D Mapping With an RGB-D Camera (2014, background): “A variant particularly suited for man-made environments uses the point-to-line metric [5].”
Real-time correlative scan matching (2009, background): “Iterative Closest Point (ICP) [1], [2] and Iterative Closest Line (ICL) [3], [4], [5] are used pervasively in scan matching.”
Graduated Non-Convexity for Robust Spatial Perception: From Non-Minimal Solvers to Global Outlier Rejection (2019, methodology): “, Horn’s method [3] for P-REG, or PLICP [19] for G-REG.”
Toward a Fully Autonomous UAV: Research Platform for Indoor and Outdoor Urban Search and Rescue (2012, methodology): “The laser odometry system is based on Censi's canonical scan matcher [12].”
SLAM-Aided Stem Mapping for Forest Inventory with Small-Footprint Mobile LiDAR (2015, background): “In relative positioning, on the contrary, scan matching utilizes two or more consecutive frames of scan points to directly obtain the movement mobile platform with various algorithms, e.g., classical Iterative Closest Point (ICP) [23], Iterative Closest Line (ICL) [24], Monte Carlo [25], and Maximum”
Automatic loop closure detection using multiple cameras for 3D indoor localization (2012, methodology): “Each of these association gates provides a candidate LC transformation.”
MobileRGBD, an open benchmark corpus for mobile RGB-D related algorithms (2014, neutral): “Except the sink, furniture can be moved ad libitum to reflect experimental needs.”
Multiple‐Robot Simultaneous Localization and Mapping: A Review (2016, methodology): “The process of calculating the relative motion of th e laser ranger from the consecutive scans is referred to as scan matching or laser odometry (Lu and Milios, 1994; Nieto e t al., 2007; Censi, 2008).”
A Review of Point Cloud Registration Algorithms for Mobile Robotics (2015, background): “In the same direction, the specificity of a 2D laser scanner acquisition structure can help optimize the search [Censi, 2008].”