Using Registration with Fourier-SOFT in 2D (FS2D) for Robust Scan Matching of Sonar Range Data
Tim Hansen,Andreas Birk,Tim Hansen,Andreas Birk
In this paper, we introduce Fourier-SOFT 2D (FS2D) as a new robust registration method. FS2D operates in the frequency domain where it exploits the well-known decoupling of rotation and translation. The challenging part of determining the rotation parameter is solved here based on a projection of the Fourier magnitude on a sphere and the SO(3) Fourier Transform (SOFT). The underlying use case is u...
