Large scale 3D scene reconstruction with improved registration of laser range data

The paper proposes two approaches to improve the Iterative Closest Point (ICP) algorithm in the registration of large scale range data obtained by a Velodyne LIDAR at different locations in an outdoor environment. The first proposed approach discards points that cannot be matched in the datasets during the registration process to prevent errors from these points from affecting the results. The second approach extracts feature points that are representative of the datasets to perform the registration process and similarly preventing mismatching points from affecting the results. Experiments show that both approaches perform better than the original ICP algorithm.