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Freiburg Building 79: ICP-Based Incremental Registration using Sparse Point Maps

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Uploaded by on Feb 1, 2009

(Author information and Acknowledgments temp. removed!)
Simultaneous Localization and Mapping (SLAM) using an incremental approach based on range image registration with a variant of the Iterative Closest Point (ICP) algorithm by Besl and McKay. The resulting sparse point map models a part of building 79 at the campus of Universtiy of Freiburg. The data set was recorded by Cyrill Stachniss (University of Freiburg).

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