robust_point_cloud_registration - Robust Point Cloud Registration Using Iterative Probabilistic Data Associations ("Robust ICP")

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Robust Point Cloud Registration Using One-To-Many Iterative Probabilistic Data Associations ("Robust ICP"). Contains wrappers for ICP, GICP, NDT as well as the source code for IPDA. G. Agamennoni, S. Fontana, R. Y. Siegwart and D. G. Sorrenti "Point Clouds Registration with Probabilistic Data Association", in International Conference on Intelligent Robots and Systems (IROS), 2016.



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[1] Raúl Mur-Artal, J. M. M. Montiel and Juan D. Tardós. ORB-SLAM: A Versatile and Accurate Monocular SLAM System. IEEE > Transactions on Robotics, vol. 31, no. 5, pp. 1147-1163, 2015. (2015 IEEE Transactions on Robotics Best Paper Award). PDF. [2] Dorian Gálvez-López and Juan D. Tardós. Bags of Binary Words for Fast Place Recognition in Image Sequences. IEEE > Transactions on Robotics, vol. 28, no. 5, pp. 1188-1197, 2012. PDF. D. Nister, “An efficient solution to the five-point relative pose problem,” Pattern Analysis and Machine Intelligence, IEEE Transactions on, vol. 26, no. 6, pp. 756–770, 2004.