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Closing the loop

After matching multiple 3D scans, errors have accumulated and a closed loop will be inconsistent. Our algorithm detects a closing loop by registering the last acquired 3D scan with earlier acquired scans, e.g., the first scan. If a registration is possible, the computed error is distributed over all 3D scans. A second step minimizes the global error with the following algorithm.

root 2005-05-03