On a new short-term weekly lidar dataset, Point-to-Plane ICP consistently outperforms Point-to-Point ICP for scan-to-map relocalization under environmental change.
Challenging data sets for point cloud reg- istration algorithms
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When and Where Localization Fails: An Analysis of the Iterative Closest Point in Evolving Environment
On a new short-term weekly lidar dataset, Point-to-Plane ICP consistently outperforms Point-to-Point ICP for scan-to-map relocalization under environmental change.