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An Extension of the ICP Algorithm for Modeling Nonrigid Objects with Mobile Robots
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@MISC{Hähnel_anextension,
author = {Dirk Hähnel and Sebastian Thrun and Wolfram Burgard},
title = {An Extension of the ICP Algorithm for Modeling Nonrigid Objects with Mobile Robots},
year = {}
}
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Abstract
The iterative closest point (ICP) algorithm [2] is a popular method for modeling 3D objects from range data. The classical ICP algorithm rests on a rigid surface assumption. Building on recent work on nonrigid object models [5, 16, 9] , this paper presents an ICP algorithm capable of modeling nonrigid objects, where individual scans may be subject to local deformations. We describe an integrated mathematical framework for simultaneously registering scans and recovering the surface configuration. To tackle the resulting...
Keyphrases
mobile robot icp algorithm modeling nonrigid rigid surface assumption icp algorithm capable local deformation integrated mathematical framework nonrigid object iterative closest point popular method classical icp algorithm rest range data surface configuration individual scan nonrigid object model recent work
