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Evaluation of 3D registration reliability and speed : a comparison of ICP and NDT

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Evaluation of 3D Registration Reliability and

Speed – A Comparison of ICP and NDT

• Evaluate valley of convergence, accuracy, and execution time for ICP and NDT in underground mine. • 6DOF registration with 3D data.

• Unbiased comparison made by two research groups.

• Introduce interpolated NDT.

• NDT is faster and has wider valley of convergence.

Martin Magnusson and Achim J. Lilienthal

AASS, Örebro University, Sweden

Andreas Nüchter, Christopher Lörken and Joachim Hertzberg

KBS, Osnabrück University, Germany

References

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