Robust Point Cloud Registration Using One-To-Many Iterative Probabilistic Data Associations ("Robust ICP"). Contains wrappers for ICP, GICP, NDT as well as the source code for IPDA.
- Simone Fontana (simone.fontana@disco.unimib.it)
- Timo Hinzmann (hitimo@ethz.ch)
- Gabriel Agamennoni (g.agamennoni@gmail.com)
- Timo Hinzmann (hitimo@ethz.ch)
The Iterative Probabilistic Data Association algorithm was introduced by the following paper:
G. Agamennoni, S. Fontana, R. Y. Siegwart and D. G. Sorrenti "Point Clouds Registration with Probabilistic Data Association", in International Conference on Intelligent Robots and Systems (IROS), 2016.
@INPROCEEDINGS{agamennoniIROS16,
Author = {G. Agamennoni, S. Fontana, R. Y. Siegwart and D. G. Sorrenti},
Title = {Point Clouds Registration with Probabilistic Data Association},
Booktitle = {Proc. of The International Conference on Intelligent Robots and Systems (IROS)},
Year = {2016}
}
The algorithm was successfully employed in the following publication:
T. Hinzmann, T. Stastny, G. Conte, P. Doherty, P. Rudol, M. Wzorek, E. Galceran, R. Siegwart, I. Gilitschenski "Collaborative 3D Reconstruction using Heterogeneous UAVs: System and Experiments", in The 15th International Symposium on Experimental Robotics (ISER), 2016.
@inproceedings{iser_2016_hinzmann,
author = {Timo Hinzmann and Thomas Stastny and Gianpaolo Conte and Patrick Doherty and Piotr Rudol and Marius Wzorek and Enric Galceran and Roland Siegwart and Igor Gilitschenski},
title = {Collaborative 3D Reconstruction using Heterogeneous UAVs: System and Experiments},
booktitle = {Experimental Robotics - The 15th International Symposium on Experimental
Robotics, {ISER} 2016, October 3-6, 2016, Tokyo, Japan},
year = {2016},
}