Intensity-Assisted ICP for Fast Registration of 2D-LIDAR.

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作者： Yingzhong,Tian ^[1] ; Xining,Liu ^[2] ; Long,Li ^[3] ; Wenbin,Wang ^[4]

作者单位： School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200072, China. troytian@shu.edu.cn. ^[1] Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, Shanghai University, Shanghai 200072, China. troytian@shu.edu.cn. ^[2] School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200072, China. liuxining@shu.edu.cn. ^[3] Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, Shanghai University, Shanghai 200072, China. liuxining@shu.edu.cn. ^[4] School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200072, China. lil@shu.edu.cn. ^[5] Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, Shanghai University, Shanghai 200072, China. lil@shu.edu.cn. ^[6] School of Mechanical and Electrical, Shenzhen Polytechnic, Shenzhen 518055, China. wangwenbin@szpt.edu.cn. ^[7]

关键词 SLAM anderson acceleration best initial transformation guess intensity residuals iterative closest point

DOI 10.3390/s19092124

PMID 31071958

发布时间 2020-02-25

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