This paper presents a 6 degrees of freedom egomotion estimation method using Iterative Closest Point (ICP) for low cost and low accuracy range cameras. Instead of Euclidean coordinates, the method uses inverse depth coordinates which better conforms to the error characteristics of raw sensor data. Extensive experiments were performed to evaluate different combinations of error metrics and parameters. The result is a real-time system that is accurate and robust across a variety of motion trajectories.Robust egomotion estimation using ICP in inverse depth coordinates (with Dennis Lui, Titus Tang and Wai Ho Li)
This paper presents a 6 degrees of freedom egomotion estimation method using Iterative Closest Point (ICP) for low cost and low accuracy range cameras. Instead of Euclidean coordinates, the method uses inverse depth coordinates which better conforms to the error characteristics of raw sensor data. Extensive experiments were performed to evaluate different combinations of error metrics and parameters. The result is a real-time system that is accurate and robust across a variety of motion trajectories.
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