{"id":1519,"date":"2023-10-27T05:45:30","date_gmt":"2023-10-27T04:45:30","guid":{"rendered":"https:\/\/babel.isa.uma.es\/kipr\/?p=1519"},"modified":"2023-10-27T05:49:12","modified_gmt":"2023-10-27T04:49:12","slug":"probabilistic-icp-iterative-closest-point-with-an-intro-on-classical-icp","status":"publish","type":"post","link":"https:\/\/babel.isa.uma.es\/kipr\/?p=1519","title":{"rendered":"Probabilistic ICP (Iterative Closest Point) with an intro on classical ICP"},"content":{"rendered":"<h4>Breux Y, Mas A, Lapierre L.  <strong>On-manifold probabilistic Iterative Closest Point: Application to underwater karst exploration, <\/strong> The International Journal of Robotics Research. 2022;41(9-10):875-902 <a href=\"https:\/\/doi.org\/10.1177\/02783649221101418\" target=\"_blank\">DOI: 10.1177\/02783649221101418<\/a>.<\/h4>\n<blockquote><p>This paper proposes MpIC, an on-manifold derivation of the probabilistic Iterative Correspondence (pIC) algorithm, which is a stochastic version of the original Iterative Closest Point. It is developed in the context of autonomous underwater karst exploration based on acoustic sonars. First, a derivation of pIC based on the Lie group structure of SE(3) is developed. The closed-form expression of the covariance modeling the estimated rigid transformation is also provided. In a second part, its application to 3D scan matching between acoustic sonar measurements is proposed. It is a prolongation of previous work on elevation angle estimation from wide-beam acoustic sonar. While the pIC approach proposed is intended to be a key component in a Simultaneous Localization and Mapping framework, this paper focuses on assessing its viability on a unitary basis. As ground truth data in karst aquifer are difficult to obtain, quantitative experiments are carried out on a simulated karst environment and show improvement compared to previous state-of-the-art approach. The algorithm is also evaluated on a real underwater cave dataset demonstrating its practical applicability.<\/p><\/blockquote>\n<p>See also: Maken FA, Ramos F, Ott L. Bayesian iterative closest point for mobile robot localization. The International Journal of Robotics Research. 2022;41(9-10):851-874. doi:10.1177\/02783649221101417<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Breux Y, Mas A, Lapierre L. On-manifold probabilistic Iterative Closest Point: Application to underwater karst exploration, The International Journal of <span class=\"ellipsis\">&hellip;<\/span> <span class=\"more-link-wrap\"><a href=\"https:\/\/babel.isa.uma.es\/kipr\/?p=1519\" class=\"more-link\"><span>Read More &rarr;<\/span><\/a><\/span><\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[3],"tags":[183,6],"class_list":["post-1519","post","type-post","status-publish","format-standard","hentry","category-mobile-robot-localization","tag-icp","tag-useful-for-teaching"],"_links":{"self":[{"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/posts\/1519"}],"collection":[{"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=1519"}],"version-history":[{"count":2,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/posts\/1519\/revisions"}],"predecessor-version":[{"id":1523,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/posts\/1519\/revisions\/1523"}],"wp:attachment":[{"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=1519"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=1519"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=1519"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}