The normal distributions transform: a new approach to laser scan matching

Biber, Peter; Straßer, Wolfgang

doi:10.1109/iros.2003.1249285

Cited by 1,148 publications

(683 citation statements)

References 12 publications

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“…Alternatively, the Normal Distributions Transform (NDT), introduced in [16], uses standard optimization methods (e.g. Newton's algorithm) for the alignment.…”

Section: B Scene Registrationmentioning

confidence: 99%

Overlap-based ICP tuning for robust localization of a humanoid robot

Nobili

Scona

Caravagna

et al. 2017

2017 IEEE International Conference on Robotics and Automation (ICRA)

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Abstract-State estimation techniques for humanoid robots are typically based on proprioceptive sensing and accumulate drift over time. This drift can be corrected using exteroceptive sensors such as laser scanners via a scene registration procedure. For this procedure the common assumption of high point cloud overlap is violated when the scenario and the robot's point-of-view are not static and the sensor's field-of-view (FOV) is limited. In this paper we focus on the localization of a robot with limited FOV in a semi-structured environment. We analyze the effect of overlap variations on registration performance and demonstrate that where overlap varies, outlier filtering needs to be tuned accordingly. We define a novel parameter which gives a measure of this overlap. In this context, we propose a strategy for robust non-incremental registration. The pre-filtering module selects planar macro-features from the input clouds, discarding clutter. Outlier filtering is automatically tuned at run-time to allow registration to a common reference in conditions of non-uniform overlap. An extensive experimental demonstration is presented which characterizes the performance of the algorithm using two humanoids: the NASA Valkyrie, in a laboratory environment, and the Boston Dynamics Atlas, during the DARPA Robotics Challenge Finals.

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“…Alternatively, the Normal Distributions Transform (NDT), introduced in [16], uses standard optimization methods (e.g. Newton's algorithm) for the alignment.…”

Section: B Scene Registrationmentioning

confidence: 99%

Overlap-based ICP tuning for robust localization of a humanoid robot

Nobili

Scona

Caravagna

et al. 2017

2017 IEEE International Conference on Robotics and Automation (ICRA)

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“…Plane detection has been widely used to reduce the camera tracking drift in 3D scanning [Biber and Strasser 2003;Dou et al 2013;Ataer-Cansizoglu et al 2013;Taguchi et al 2013]. All these methods are developed based on point cloud representations; whereas our design is based on a volumetric grid enhanced with structural information and can thus be seamlessly integrated into the KinectFusion framework to harness the advantage of volumetric depth data fusion.…”

Section: Related Workmentioning

confidence: 99%

Online Structure Analysis for Real-Time Indoor Scene Reconstruction

Zhang

Tong

et al. 2015

ACM Trans. Graph.

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Figure 1: A lab scene (100m 2 ) reconstructed on-the-fly. The complete scan finished within 70 minutes. Top left: the final reconstructed model by our system, which contains planar regions (polygons) and extracted meshes for separate objects, created and refined progressively in real-time by our online analysis procedure during the scan. Top right: the result of the plane/object labeling procedure, which provides the segmentation of planes and objects for the online analysis. The colors distinguish planar regions and objects by their labels in the volumetric data structure. Bottom: close-up views of the reconstructed scene. AbstractWe propose a real-time approach for indoor scene reconstruction. It is capable of producing a ready-to-use 3D geometric model even while the user is still scanning the environment with a consumer depth camera. Our approach features explicit representations of planar regions and non-planar objects extracted from the noisy feed of the depth camera, via an online structure analysis on the dynamic, incomplete data. The structural information is incorporated into the volumetric representation of the scene, resulting in a seamless integration with KinectFusion's global data structure and an efficient implementation of the whole reconstruction process. Moreover, heuristics based on rectilinear shapes in typical indoor scenes effectively eliminate camera tracking drift and further improve reconstruction accuracy. The instantaneous feedback enabled by our on-the-fly structure analysis, including repeated object recognition, allows the user to selectively scan the scene and produce high fidelity large-scale models efficiently. We demonstrate the capability of our system with real-life examples. *

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“…We align two overlapping sonar images by registration of the extracted features using the normal distribution transform (NDT) algorithm [5]. The NDT algorithm assigns the feature points of a scan to cells of a regular grid spanning the covered area.…”

Section: Registrationmentioning

confidence: 99%

Simultaneous Localization and Mapping in Marine Environments

Fallon

Johannsson

Kaess

et al. 2012

Marine Robot Autonomy

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Accurate navigation is a fundamental requirement for robotic systemsmarine and terrestrial. For an intelligent autonomous system to interact effectively and safely with its environment, it needs to accurately perceive its surroundings. While traditional dead-reckoning filtering can achieve extremely low drift rates, the localization accuracy decays monotonically with distance traveled. Other approaches (such as external beacons) can help; nonetheless, the typical prerogative is to remain at a safe distance and to avoid engaging with the environment. In this chapter we discuss alternative approaches which utilize onboard sensors so that the robot can estimate the location of sensed objects and use these observations to improve its own navigation as well as its perception of the environment. This approach allows for meaningful interaction and autonomy. Three motivating autonomous underwater vehicle (AUV) applications are outlined herein. The first fuses external range sensing with relative sonar measurements. The second application localizes

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The normal distributions transform: a new approach to laser scan matching

Cited by 1,148 publications

References 12 publications

Overlap-based ICP tuning for robust localization of a humanoid robot

Overlap-based ICP tuning for robust localization of a humanoid robot

Online Structure Analysis for Real-Time Indoor Scene Reconstruction

Simultaneous Localization and Mapping in Marine Environments

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