NDT‐6D for color registration in agri‐robotic applications
Himanshu Gupta,
Achim J. Lilienthal,
Henrik Andreasson
et al.
Abstract:Registration of point cloud data containing both depth and color information is critical for a variety of applications, including in-field robotic plant manipulation, crop growth modeling, and autonomous navigation. However, current state-ofthe-art registration methods often fail in challenging agricultural field conditions due to factors such as occlusions, plant density, and variable illumination.To address these issues, we propose the NDT-6D registration method, which is a color-based variation of the Norma… Show more
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