The authors derive an optimizable registration cost for lines and planes as projection residuals on the affine Grassmannian and validate it on object registration, RGB-D odometry, and PnL problems.
Geometric mean and geodesic regression on grass- mannians
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Registration beyond Points: General Affine Subspace Alignment via Geodesic Distance on Grassmann Manifold
The authors derive an optimizable registration cost for lines and planes as projection residuals on the affine Grassmannian and validate it on object registration, RGB-D odometry, and PnL problems.