Globally Consistent Range Image Registration

  • Andreas Nüchter
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 52)


Since nearly all mobile robots have an odometer to measure traveled distances, our algorithm uses these measurements to calculate a first pose estimate. The odometry is extrapolated to 6 degrees of freedom using previous registration matrices. We are using a left-handed coordinate system, i.e., the y coordinate represents elevation.


Mobile Robot Reference Node Optimal Rotation Loop Detection Elimination Tree 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2009

Authors and Affiliations

  • Andreas Nüchter

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