Accurate Covariance Estimation for Pose Data From Iterative Closest Point Algorithm

Author:

Yuan Rick H.,Taylor, Clark N.,Nykl Scott L.

Publisher

Institute of Navigation

Subject

Electrical and Electronic Engineering,Aerospace Engineering

Reference20 articles.

1. Anderson, J. , Miller, J. , Wu, X. , Nykl, S. , Taylor, C. , & Watkinson, W. (2021, August). Real-time automated aerial refueling with stereo vision: overcoming GNSS-denied environments in or near combat areas. Inside GNSS. https://insidegnss.com/real-time-automated-aerial-refueling-with-stereo-vision-overcoming-gnss-denied-environments-in-or-near-combat-areas

2. Least-Squares Fitting of Two 3-D Point Sets

3. A method for registration of 3-D shapes

4. A new approach to 3D ICP covariance estimation;Brossard;IEEE Robotics and Automation Letters,2020

5. Censi, A. (2007). An accurate closed-form estimate of ICP’s covariance. Proc. 2007 IEEE International Conference on Robotics and Automation, Rome, Italy, 3167–3172. http://doi.org/10.1109/ROBOT.2007.363961

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