A Single Correspondence Is Enough: Robust Global Registration to Avoid Degeneracy in Urban Environments
Hyungtae Lim,Suyong Yeon,Soohyun Ryu,Yonghan Lee,Youngji Kim,Jaeseong Yun,Euigon Jung,Donghwan Lee,Hyun Myung,Hyungtae Lim,Suyong Yeon,Soohyun Ryu,Yonghan Lee,Youngji Kim,Jaeseong Yun,Euigon Jung,Donghwan Lee,Hyun Myung
Global registration using 3D point clouds is a crucial technology for mobile platforms to achieve localization or manage loop-closing situations. In recent years, numerous researchers have proposed global registration methods to address a large number of outlier correspondences. Unfortunately, the degeneracy problem, which represents the phenomenon in which the number of estimated inliers becomes ...
