ICP-based SLAM Using LiDAR Intensity and Near-infrared Data

LiDAR scene reconstruction using imagery and frame overlap from a Texel camera

“…Some commonly used algorithms are iterative closest point, and coherent point drift. [1][2][3][4] These algorithms as described only utilize the 3D point data itself. However, in texel images, which additionally have optical image data associated with the 3D points, image processing techniques can be used as part of registration techniques to form an initial estimate of the poses corresponding to each point cloud.…”