2015
IRON: A fast interest point descriptor for robust NDT-map matching and its application to robot localization
IROS 2015poster
This work introduces the IRON keypoint detector and the IRON descriptor which enable high-speed and high-accuracy alignment of 3D depth maps. Instead of using raw point values for storing 3D-scenes, all algorithms were designed to operate on Normal Distribution Transforms (NDT), since NDT-maps provi…