Deep Bayesian ICP Covariance Estimation
Andrea De Maio,Simon Lacroix,Andrea De Maio,Simon Lacroix
Covariance estimation for the Iterative Closest Point (ICP) point cloud registration algorithm is essential for state estimation and sensor fusion purposes. We argue that a major source of error for ICP is in the input data itself, from the sensor noise to the scene geometry. Benefiting from recent developments in deep learning for point clouds, we propose a data-driven approach to learn an error ...
