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Computing Globally Consistent Scenes

After registration, the scene has to be correct and globally consistent. A straightforward method for aligning several 3D scans is pairwise matching, i.e., the new scan is registered against a previous one. Alternatively, an incremental matching method is introduced, i.e., the new scan is registered against a so-called metascan, which is the union of the previously acquired and registered scans. Each scan matching has a limited precision. Both methods accumulate the registration errors such that the registration of a large number of 3D scans leads to inconsistent scenes and to problems with the robot localization. Closing loop detection and error diffusing avoid these problems and compute consistent scenes.


root 2005-06-17