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Adaptive Cost Function for Pointcloud Registration

Authors
Johan Ekekrantz, John Folkesson, Patric Jensfelt
Year
2017
Preprint
Identifiers
arXiv 1704.07910

Abstract

In this paper we introduce an adaptive cost function for pointcloud registration. The algorithm automatically estimates the sensor noise, which is important for generalization across different sensors and environments. Through experiments on real and synthetic data, we show significant improvements in accuracy and robustness over state-of-the-art solutions.

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