A comparison of 3D registration algorithms for autonomous underground mining vehicles

Keywords

De facto, Computer science, Range (aeronautics), Algorithm, Computer vision

References

• The normal distributions transform: a new approach to laser scan matchingPeter Biber, Wolfgang Straßer — 2003
• Fast and accurate shape-based registrationDavid Simón, Takeo Kanade — 1996
• Rotations, Quaternions, and Double GroupsS. L. Altmann — 1986
• A Method for Registration of 3-D ShapesPaul J. Besl, Neil David McKay — 1992
• Efficient variants of the ICP algorithmSzymon Rusinkiewicz, Marc Levoy — 2001
• A System for Volumetric Robotic Mapping of Underground MinesMichael Montemerlo, D. Ferguson, S. Thrun — 2002

Cited by

• Local visual feature based localisation and mapping by mobile robotsHenrik Andreasson — 2008
• Planar Segments Based Three-dimensional Robotic Mapping in Outdoor EnvironmentsJunhao Xiao — 2013
• Beyond points: Evaluating recent 3D scan-matching algorithmsMartin Magnusson, Narunas Vaškevičius, Todor Stoyanov — 2015
• The three-dimensional normal-distributions transform : an efficient representation for registration, surface analysis, and loop detectionMartin Magnusson — 2009
• Towards semantic maps for mobile robotsAndreas Nüchter, Joachim Hertzberg — 2008
• Improving point-cloud accuracy from a moving platform in field operationsHåkan Almqvist, Martin Magnusson, Todor Stoyanov — 2013
• Improving Point Cloud Accuracy Obtained from a Moving Platform for Consistent Pile Attack Pose EstimationHåkan Almqvist, Martin Magnusson, Achim J. Lilienthal — 2014
• VeloRegistration based intersection detection for autonomous driving in challenging urban scenariosQuanwen Zhu, Qingzhou Mao, Long Chen — 2012
• Fusion of Stereo-Camera and PMD-Camera Data for Real-Time Suited Precise 3D Environment ReconstructionKlaus-Dieter Kuhnert, Martin Stommel — 2006
• GPGPU implementation of On-Line point to plane 3D data registrationJanusz Będkowski, Andrzej Masłowski — 2011
• Fast 3D mapping in highly dynamic environments using normal distributions transform occupancy mapsJari Saarinen, Todor Stoyanov, Henrik Andreasson — 2013
• 6D SLAM with GPGPU computationJanusz Będkowski, Geert De Cubber, Andrzej Masłowski — 2012
• On-line range images registration with GPGPUJanusz Będkowski, Jacek Naruniec — 2013
• Scan registration using segmented region growing NDTArun Das, Steven L. Waslander — 2014
• 6D SLAM—3D mapping outdoor environmentsAndreas Nüchter, Kai Lingemann, Joachim Hertzberg — 2007
• On-the-fly scene acquisition with a handy multi-sensor systemBenjamin Huhle, Philipp Jenke, Wolfgang Straßer — 2008
• Two different tools for three-dimensional mapping: DE-based scan matching and feature-based loop detectionFernando Martín, Rudolph Triebel, Luís Moreno — 2013
• Has somethong changed here? Autonomous difference detection for security patrol robotsHenrik Andreasson, Martin Magnusson, Achim J. Lilienthal — 2007
• On-line data registration in OUTDOOR environmentJanusz Będkowski, Andrzej Masłowski — 2011
• Self-Localization in Scanned 3DTV SetsPhilipp Jenke, Benjamin Huhle, Wolfgang Straβer — 2007

Related papers

• A Method for Registration of 3-D ShapesPaul J. Besl, Neil David McKay — 1992
• Scan registration for autonomous mining vehicles using 3D‐NDTMartin Magnusson, Achim J. Lilienthal, Tom Duckett — 2007
• Efficient variants of the ICP algorithmSzymon Rusinkiewicz, Marc Levoy — 2001
• The normal distributions transform: a new approach to laser scan matchingPeter Biber, Wolfgang Straßer — 2003
• A real-time algorithm for mobile robot mapping with applications to multi-robot and 3D mappingSebastian Thrun, Wolfram Burgard, D. Fox — 2000
• Cached k-d tree search for ICP algorithmsAndreas Nüchter, Kai Lingemann, Joachim Hertzberg — 2007
• An Explicit Loop Closing Technique for 6D SLAMJochen Sprickerhof, Andreas Nüchter, Kai Lingemann — 2009
• Fully automatic registration of multiple 3D data setsDaniel F. Huber, Martial Hebert — 2003
• 6D SLAM—3D mapping outdoor environmentsAndreas Nüchter, Kai Lingemann, Joachim Hertzberg — 2007