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ITERATIVE CLOSEST POINT PROCESS BASED ON LIDAR WITH INTEGRATED MOTION ESTIMATION FOR HIGH DEFINITION MAPS
ITERATIVE CLOSEST POINT PROCESS BASED ON LIDAR WITH INTEGRATED MOTION ESTIMATION FOR HIGH DEFINITION MAPS
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机译：集成运动估计的基于激光雷达的迭代最近点过程
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摘要
A system align point clouds obtained by sensors of a vehicle using kinematic iterative closest point with integrated motions estimates. The system receives lidar scans from a lidar mounted on the vehicle. The system derives point clouds from the lidar scan data. The system iteratively determines velocity parameters that minimize an aggregate measure of distance between corresponding points of the plurality of pairs of points. The system iteratively improves the velocity parameters. The system uses the velocity parameters for various purposes including for building high definition maps used for navigating the vehicle.
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