FaMSA: fast multi-scan alignment with partially known correspondences
Tipus de documentText en actes de congrés
Data publicació2011
Condicions d'accésAccés obert
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Reconeixement-NoComercial-SenseObraDerivada 3.0 Espanya
ProjecteINTELLACT - Intelligent observation and execution of Actions and manipulations (EC-FP7-269959)
CEEDS - The Collective Experience of Empathic Data Systems (EC-FP7-258749)
CEEDS - The Collective Experience of Empathic Data Systems (EC-FP7-258749)
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.
CitacióTeniente, E.; Andrade-Cetto, J. FaMSA: fast multi-scan alignment with partially known correspondences. A: European Conference on Mobile Robots. "Proceedings of the 5th European Conference on Mobile Robots". Örebro: 2011, p. 139-144.
Versió de l'editorhttp://aass.oru.se/Agora/ECMR2011/documents/ECMR_2011_Program.pdf
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1260-FaMSA_-Fas ... -Known-Correspondences.pdf | 1,515Mb | Visualitza/Obre |