Shashank Giri

Alignment of 3D point clouds with a dominant ground plane

This paper reports on a novel two-step algorithm for the estimation of full 6-degree-of-freedom (DOF) [tx, ty, tz, θx, θy, θz] rigid body transformation between any two overlapping point-clouds that have a dominant ground plane. We first estimate the ground plane (X-Y plane) from the two 3D point-cl…