Accurate Global Point Cloud Registration Using GPU-Based Parallel Angular Radon Spectrum

Accurate robot localization and mapping can be improved through the adoption of globally optimal registration methods, like the Angular Radon Spectrum (ARS). In this paper, we present Cud-ARS, an efficient variant of the ARS algorithm for 2D registration designed for parallel execution of the most c...

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Bibliographic Details
Published in:	Sensors
Main Authors:	Ernesto Fontana, Dario Lodi Rizzini
Format:	Article
Language:	English
Published:	MDPI AG 2023-10-01
Subjects:	registration mapping parallel processing GPU
Online Access:	https://www.mdpi.com/1424-8220/23/20/8628

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