4. 自己位置推定アルゴリズム
Iterative Closest Point (ICP)
◦すべての最近傍点を探索
Normal Distributions Transform
◦空間をボクセルに分割して計算
(Paul J.Besl and Neil McKay: “A Method for Registration of 3-D Shapes”, IEEE Transactions on Pattern Analysis
and Machine Intelligence, Vol.14, pp. 239–256, 1992.)
(Peter Biber and Wolfgang Straßer: “The Normal Distributions Transform:A New Approach to Laser Scan Matching”,
Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2743–2748, 2003.)
(Andrei Sharf, Marina Blumenkrants, Ariel Shamir, and Daniel Cohen-Or. Snappaste: an
interactive technique for easy mesh composition. The Visual Computer, 22(9):835–844, 2006.)
(Takeuchi Eijiro, and Takashi Tsubouchi. "A 3-D scan matching using improved 3-D normal distributions transform for mobile
robotic mapping." Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on.IEEE, 2006. 3.)
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8. 提案 ― 座標ビット数の削減
(Magnusson, Martin and Lilienthal, Achim and Duckett, Tom, "Scan registration for autonomous
mining vehicles using 3D-NDT", Journal of Field Robotics, 24(20), 803-827, 2007)
•入力点の占有するメモリ削減効果
•同一面積でより高い並列性
•ターンアラウンドタイムの減少
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