Voxelized GICP for Fast and Accurate 3D Point Cloud Registration
Kenji Koide Masashi Yokozuka Shuji Oishi Atsuhiko Banno Kenji Koide Masashi Yokozuka Shuji Oishi Atsuhiko Banno
This paper presents the voxelized generalized iterative closest point (VGICP) algorithm for fast and accurate three-dimensional point cloud registration. The proposed approach extends the generalized iterative closest point (GICP) approach with voxelization to avoid costly nearest neighbor search while retaining its accuracy. In contrast to the normal distributions transform (NDT), which calculate...