Martin Magnusson, Tom Duckett and Achim J. Lilienthal
Scan Registration for Autonomous Mining Vehicles Using 3D-NDT
Journal of Field Robotics, Volume 24, Issue 10, 24 Oct 2007, pp. 803-827
Abstract: Scan registration is an essential sub-task when building maps based on range finder data from mobile robots. The problem is to deduce how the robot has moved between consecutive scans, based on the shape of overlapping portions of the scans. This paper presents a new algorithm for registration of 3D data. The algorithm is a generalisation and improvement of the normal distributions transform (NDT) for 2D data developed by Biber and Straßer, which allows for accurate registration using a memory-efficient representation of the scan surface. A detailed quantitative and qualitative comparison of the new algorithm with the 3D version of the popular ICP (iterative closest point) algorithm is presented. Results with actual mine data, some of which were collected with a new prototype 3D laser scanner, show that the presented algorithm is faster and slightly more reliable than the standard ICP algorithm for 3D registration, while using a more memory-efficient scan surface representation.

Errata

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Bibtex:
@ARTICLE{Magnusson_etal:JFR:2007,
  AUTHOR = {Magnusson, Martin and Duckett, Tom and Lilienthal, Achim~J.},
  TITLE = {Scan Registration for Autonomous Mining Vehicles Using {3D-NDT}},
  JOURNAL = {Journal of Field Robotics},
  YEAR = {2007},
  VOLUME = {24},
  NUMBER = {10},
  PAGES = {803--827},
  ISSN = {1556-4959 (Print), 1556-4967 (Online)},
  MONTH = {Oct 24}
}