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Found 2 papers, 2 papers with code
Stein ICP for Uncertainty Estimation in Point Cloud Matching
Quantification of uncertainty in point cloud matching is critical in many tasks such as pose estimation, sensor fusion, and grasping.
Speeding Up Iterative Closest Point Using Stochastic Gradient Descent
Sensors producing 3D point clouds such as 3D laser scanners and RGB-D cameras are widely used in robotics, be it for autonomous driving or manipulation.
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