Joint Pose and Principal Curvature Refinement Using Quadrics

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Authors Tom Drummond, Andrew Spek
Journal/Conference Name Proceedings - IEEE International Conference on Robotics and Automation
Paper Category
Paper Abstract In this paper we present a novel joint approach for optimising surface curvature and pose alignment. We present two implementations of this joint optimisation strategy, including a fast implementation that uses two frames and an offline multi-frame approach. We demonstrate an order of magnitude improvement in simulation over state of the art dense relative point-to-plane Iterative Closest Point (ICP) pose alignment using our dense joint frame-to-frame approach and show comparable pose drift to dense point-to-plane ICP bundle adjustment using low-cost depth sensors. Additionally our improved joint quadric based approach can be used to more accurately estimate surface curvature on noisy point clouds than previous approaches.
Date of publication 2017
Code Programming Language C++
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