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Iterative Registration of 3D LADAR Data for Autonomous Navigation

Published

Author(s)

Rajmohan Madhavan, Elena R. Messina

Abstract

This paper describes an iterative algorithm for registration of 3D LADAR data. The proposed approach is iconic in nature with suitable modifications to deal with false/spurious matches, occlusions and outliers. Experimental results using data obtained from field trials on an eXperimental Unmanned Vehicle (XUV) are presented to demonstrate the efficacy of the approach. The paper also details ongoing research efforts to determine the feasibility of employing the algorithm for real-time autonomous navigation.
Proceedings Title
Intelligent Vehicles Sympoisum: IEEE IV2003 | | Obstacle Detection |
Conference Dates
June 9-11, 2003
Conference Title
Proceedings of the IEEE Intelligent Vehicles Symposium

Keywords

Global Optimization, Iterative Closest Point, LADAR, Registration

Citation

Madhavan, R. and Messina, E. (2003), Iterative Registration of 3D LADAR Data for Autonomous Navigation, Intelligent Vehicles Sympoisum: IEEE IV2003 | | Obstacle Detection |, [online], https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=823454 (Accessed March 4, 2024)
Created June 1, 2003, Updated February 17, 2017