Range Image Registration Using an Octree based Matching Strategy

Autonomous world modeling is one of the major topics in current robot research. A basic concept hereby is the registration of consecutive range images. Consistent models can only be built with robust registration methods. Already one incorrect registered range image will affect the following registrations and lead to an inconsistent model. Therefore we developed a robust ICP registration method based on an octree matching strategy. This matching strategy could cope with large odometry errors and achieved the generation of consistent 3D models.