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Cover: 9781680830248 | A Review of Point Cloud Registration Algorithms for Mobile Robotics
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A Review of Point Cloud Registration Algorithms for Mobile Robotics
Taschenbuch von François Pomerleau (u. a.)
Sprache: Englisch

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Beschreibung
This monograph addresses the problem of geometric registration and the classical Iterative Closest Point (ICP) algorithm. Though commonly used in several research fields, the focus here is on mobile robotics in which point clouds need to be registered. Even with this narrowed focus, the problem is still complex and multiple-faceted. A lot has been published on the topic, and, up until now, it has lacked a general comparison methodology. This is understandable given the diversity of applications, characteristics of the sensors, motion capabilities of the robotic platform and characteristics of the environments, but it hinders the selection process of an appropriate instance of the algorithm. This review tackles this challenge by three means: (1) a wide literature review with a historical perspective, (2) the elaboration of a theoretical descriptive framework of geometric registration grounded in the literature review, and (3) the analysis of practical use cases covering a wide diversity of mobile robotics applications. The end result provides the reader with a set of guidelines for the choice of geometric registration configuration.
This monograph addresses the problem of geometric registration and the classical Iterative Closest Point (ICP) algorithm. Though commonly used in several research fields, the focus here is on mobile robotics in which point clouds need to be registered. Even with this narrowed focus, the problem is still complex and multiple-faceted. A lot has been published on the topic, and, up until now, it has lacked a general comparison methodology. This is understandable given the diversity of applications, characteristics of the sensors, motion capabilities of the robotic platform and characteristics of the environments, but it hinders the selection process of an appropriate instance of the algorithm. This review tackles this challenge by three means: (1) a wide literature review with a historical perspective, (2) the elaboration of a theoretical descriptive framework of geometric registration grounded in the literature review, and (3) the analysis of practical use cases covering a wide diversity of mobile robotics applications. The end result provides the reader with a set of guidelines for the choice of geometric registration configuration.
Details
Erscheinungsjahr: 2015
Fachbereich: Allgemeines
Genre: Technik
Rubrik: Naturwissenschaften & Technik
Medium: Taschenbuch
ISBN-13: 9781680830248
ISBN-10: 1680830244
Sprache: Englisch
Ausstattung / Beilage: Paperback
Einband: Kartoniert / Broschiert
Autor: Pomerleau, François
Colas, Francis
Siegwart, Roland
Hersteller: Now Publishers Inc
Maße: 234 x 156 x 7 mm
Von/Mit: François Pomerleau (u. a.)
Erscheinungsdatum: 26.06.2015
Gewicht: 0,199 kg
Artikel-ID: 104631224
Details
Erscheinungsjahr: 2015
Fachbereich: Allgemeines
Genre: Technik
Rubrik: Naturwissenschaften & Technik
Medium: Taschenbuch
ISBN-13: 9781680830248
ISBN-10: 1680830244
Sprache: Englisch
Ausstattung / Beilage: Paperback
Einband: Kartoniert / Broschiert
Autor: Pomerleau, François
Colas, Francis
Siegwart, Roland
Hersteller: Now Publishers Inc
Maße: 234 x 156 x 7 mm
Von/Mit: François Pomerleau (u. a.)
Erscheinungsdatum: 26.06.2015
Gewicht: 0,199 kg
Artikel-ID: 104631224
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