BO-ICP: Initialization of Iterative Closest Point Based on Bayesian Optimization
Harel Biggie,Andrew Beathard,Christoffer Heckman,Harel Biggie,Andrew Beathard,Christoffer Heckman
Typical algorithms for point cloud registration such as Iterative Closest Point (ICP) require a favorable initial transform estimate between two point clouds in order to perform a successful registration. State-of-the-art methods for choosing this starting condition rely on stochastic sampling or global optimization techniques such as branch and bound. In this work, we present a new method based o...
