Abstract:Data association and registration is an important and actively researched topic in robotics. This paper deals with registration of two sets of line segments, which is especially useful in mapping applications. Our method is non-iterative, finding an optimal transformation in a single step, in a time proportional only to a number of the corresponding line segments. The procedure also provides diagnostic measures of reliability of the computation and of similarity of the data sets being registered. At this point… Show more
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