Estimating Motion Uncertainty with Bayesian ICP
Fahira Afzal Maken,Fabio Ramos,Lionel Ott,Fahira Afzal Maken,Fabio Ramos,Lionel Ott
Accurate uncertainty estimation associated with the pose transformation between two 3D point clouds is critical for autonomous navigation, grasping, and data fusion. Iterative closest point (ICP) is widely used to estimate the transformation between point cloud pairs by iteratively performing data association and motion estimation. Despite its success and popularity, ICP is effectively a determini...
