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Typically, random sample consensus (RANSAC) approaches are used to perform outlier rejection for visual odometry, however the use of RANSAC can be computationally expensive. The parity space approach (PSA) provides methodology to perform computationally efficient consistency checks for observations, without having to explicitly compute the system state. This work presents two outlier based rejection...
The Normal Distributions Transform (NDT) scan registration algorithm models the environment as a set of Gaussian distributions and generates the Gaussians by discretizing the environment into voxels. With the standard approach, the NDT algorithm has a tendency to have poor convergence performance for even modest initial transformation error. In this work, a segmented greedy cluster NDT (SGC-NDT) variant...
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