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• W2127045032 abstract "The increasing number of ICP variants leads to an explosion of algorithms and parameters. This renders difficult the selection of the appropriate combination for a given application. In this paper, we propose a state-of-the-art, modular, and efficient implementation of an ICP library. We took advantage of the recent availability of fast depth cameras to demonstrate one application example: a 3D pose tracker running at 30 Hz. For this application, we show the modularity of our ICP library by optimizing the use of lean and simple descriptors in order to ease the matching of 3D point clouds. This tracker is then evaluated using datasets recorded along a ground truth of millimeter accuracy. We provide both source code and datasets to the community in order to accelerate further comparisons in this field." @default.
• W2127045032 created "2016-06-24" @default.
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• W2127045032 date "2011-12-05" @default.
• W2127045032 modified "2023-10-17" @default.
• W2127045032 title "Tracking a depth camera: Parameter exploration for fast ICP" @default.
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• W2127045032 doi "https://doi.org/10.3929/ethz-a-010025266" @default.
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