OLAE-ICP: Robust and fast alignment of geometric features with the optimal linear attitude estimator

25 Jun 2019Jose Luis Blanco-Claraco

The problems of point-cloud registration and attitude estimation from vector observations (Wahba's problem) have widespread applications in computer vision and mobile robotics. This work introduces a simple approach for integrating sets of geometric feature observations (points, lines, and planes) in such a way that any solution to either point-cloud registration or to Wahba's problem can be used to find the SE(3) transformation between the two sets that minimizes the corresponding cost function... (read more)

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