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Open Access item FaMSA: Fast multi-scan alignment with partially known correspondences

Authors:Teniente, Ernesto H.
Andrade-Cetto, J.
Keywords:Automation, Robots, 3D scan registration, Scan alignment, ICP
Issue Date:2011
Citation:Proceedings of the 5th European Conference on Mobile Robots: 139-144 (2011)
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.
Description:Presentado al ECMR 2011 celebrado en Örebro (Sweden) del 7 al 9 de septiembre.
Publisher version (URL):http://aass.oru.se/Agora/ECMR2011/proceedings.html
URI:http://hdl.handle.net/10261/55825
Appears in Collections:(IRII) Comunicaciones congresos

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