DICP: Doppler Iterative Closest Point Algorithm. (arXiv:2201.11944v1 [cs.RO])

Web: http://arxiv.org/abs/2201.11944

In this paper, we present a novel algorithm for point cloud registration for
range sensors capable of measuring per-return instantaneous radial velocity:
Doppler ICP. Existing variants of ICP that solely rely on geometry or other
features generally fail to estimate the motion of the sensor correctly in
scenarios that have non-distinctive features and/or repetitive geometric
structures such as hallways, tunnels, highways, and bridges. We propose a new
Doppler velocity objective function that exploits the compatibility of each
point's Doppler measurement …

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