A Computational Approach to Edge Detection
IEEE Transactions on Pattern Analysis and Machine Intelligence
Mobile Robot Localization Using Sonar
IEEE Transactions on Pattern Analysis and Machine Intelligence
Localizing Overlapping Parts by Searching the Interpretation Tree
IEEE Transactions on Pattern Analysis and Machine Intelligence
Least-Squares Fitting of Two 3-D Point Sets
IEEE Transactions on Pattern Analysis and Machine Intelligence
A Method for Registration of 3-D Shapes
IEEE Transactions on Pattern Analysis and Machine Intelligence - Special issue on interpretation of 3-D scenes—part II
Iterative point matching for registration of free-form curves and surfaces
International Journal of Computer Vision
Shape registration using optimization for mobile robot navigation
Shape registration using optimization for mobile robot navigation
SUSAN—A New Approach to Low Level Image Processing
International Journal of Computer Vision
Improved Rover State Estimation in Challenging Terrain
Autonomous Robots
Two-dimensional mapping of expansive unknown areas
Two-dimensional mapping of expansive unknown areas
Performance evaluation of temporal range registration for autonomous vehicle navigation
Integrated Computer-Aided Engineering - Performance Metrics for Intelligent Systems
Constraint-based Correspondence Matching for Stereo-based Interactive Robotic Massage Machine
Journal of Intelligent and Robotic Systems
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An iterative temporal registration algorithm is presented in this article for registering 3D range images obtained from unmanned ground and aerial vehicles traversing unstructured environments. We are primarily motivated by the development of 3D registration algorithms to overcome both the unavailability and unreliability of Global Positioning System (GPS) within required accuracy bounds for Unmanned Ground Vehicle (UGV) navigation. After suitable modifications to the well-known Iterative Closest Point (ICP) algorithm, the modified algorithm is shown to be robust to outliers and false matches during the registration of successive range images obtained from a scanning LAser Detection And Ranging (LADAR) rangefinder on the UGV. Towards registering LADAR images from the UGV with those from an Unmanned Aerial Vehicle (UAV) that flies over the terrain being traversed, we then propose a hybrid registration approach. In this approach to air to ground registration to estimate and update the position of the UGV, we register range data from two LADARs by combining a feature-based method with the aforementioned modified ICP algorithm. Registration of range data guarantees an estimate of the vehicle's position even when only one of the vehicles has GPS information. Temporal range registration enables position information to be continually maintained even when both vehicles can no longer maintain GPS contact. We present results of the registration algorithm in rugged terrain and urban environments using real field data acquired from two different LADARs on the UGV.