Martin Magnusson and Tom Duckett
A Comparison of 3D Registration Algorithms for Autonomous Underground Mining Vehicles
Proceedings of the European Conference on Mobile Robotics (ECMR 2005)
Abstract: The ICP algorithm is the de facto standard for registration of 3D range-finder scans today. This paper presents a quantitative comparison between ICP and 3D NDT, a novel approach based on the normal distributions transform. The new method addresses two of the main problems of ICP: the fact that it does not make use of the local surface shape and the computationally demanding nearest-neighbour search. The results show that 3D NDT produces accurate results much faster, though it is more sensitive to error in the initial pose estimate.
Download
Paper: [PDF]
Bibtex:
@INPROCEEDINGS{Magnusson_Duckett:ECMR:2005,
  AUTHOR = {Martin Magnusson and Tom Duckett},
  TITLE = {A Comparison of {3D} Registration Algorithms for Autonomous Underground Mining Vehicles},
  BOOKTITLE = {Proceedings of the European Conference on Mobile Robotics (ECMR 2005)},
  YEAR = {2005},
  MONTH = sep,
  PAGES = {86--91}
}