2020
A Divide and Conquer Method for 3D Registration of Inhomogeneous, Partially Overlapping Scans with Fourier Mellin SOFT (FMS)
ICRA 2020poster
High-end laser range-finders provide accurate 3D data over long ranges. But their scans are inhomogeneous, i.e., the environment is non-uniformly sampled, as there is denser data in the near range than in the far range. Furthermore, the generation of a scan is time-consuming. Thus, it is desirable t…