Joint pose and principal curvature refinement using quadrics

Abstract

In this paper we present a novel joint approach for optimising surface curvature and pose alignment. We present two implementations of this joint optimisation strategy, including a fast implementation that uses two frames and an offline multi-frame approach. We demonstrate an order of magnitude improvement in simulation over state of the art dense relative point-to-plane Iterative Closest Point (ICP) pose alignment using our dense joint frame-to-frame approach and show comparable pose drift to dense point-to-plane ICP bundle adjustment using low-cost depth sensors. Additionally our improved joint quadric based approach can be used to more accurately estimate surface curvature on noisy point clouds than previous approaches.

Try to Start It! The Challenge of Reusing Code in Robotics Research

“…With further inspection, we discarded those papers which presented datasets [44], [45], [46] or complex hardware/software platforms [47], [48]. We also discarded one paper that presented a completely empty repository [49], i.e. without any source code: upon questioning by an interested reader, the author answered that he was cleaning up the code before releasing it 3 .…”