ROMar 31, 2012
Estimating Rigid Transformation Between Two Range Maps Using Expectation Maximization Algorithm
arXiv:1204.0067v12 citations
Originality Synthesis-oriented
AI Analysis
This work provides an incremental improvement for LiDAR tracking systems by speeding up transformation estimation.
The paper tackles the problem of estimating rigid transformations between two point sets for LiDAR-based target tracking, presenting a fast EM algorithm with O(N) complexity.
We address the problem of estimating a rigid transformation between two point sets, which is a key module for target tracking system using Light Detection And Ranging (LiDAR). A fast implementation of Expectation-maximization (EM) algorithm is presented whose complexity is O(N) with $N$ the number of scan points.