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Automatic registration of 3D scans with RGB data is studied in this paper. In contrast to bulk of research in the field which deploy 3D geometry consistency, local RGB image feature matches are used to solve the unknown 3D rigid transformation. The key novelty in this work is the introduction of a new simple measure, we call “Depthscale measure”, which logically represents the size of the local image...
This paper presents a new fast histogram matching algorithm for tracking the position and orientation of robots without the help of any odometers. Histogram avoids extracting geometrical primitives from the sensor data, acts independently from odometers, and is easy to be implemented. Here, the authors employ it to analyze laser scan data. A new concept named "hierarchical histogram structure"...
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