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Published 20 hours ago • verified publisher icon SMRT-AIST

How to understand MultiplicativeGaussianVoxelMap and AdditiveGaussianVoxelMap?

Open FishInWave opened this issue 3 years ago • 2 comments

https://github.com/SMRT-AIST/fast_gicp/blob/1aefa242c22e367d70cf39a95c08dac1395d6590/include/fast_gicp/gicp/fast_vgicp_voxel.hpp#L79

Hi, @MrBoriska @Alevs2R @ZhenshengLee @AchmadFathoni @koide3 , Is there any paper to introduce the method of MultiplicativeGaussianVoxelMap or AdditiveGaussianVoxelMap mathimatically?

FishInWave avatar Dec 25 '21 13:12 FishInWave

I'm also curious!

thorstink avatar Oct 13 '22 15:10 thorstink

You can find the derivation of the additive rule in the following our paper. It makes VGICP equivalent to single-point-to-multi-point matching GICP. The multiplicative one is derived from Gaussian distribution multiplication as in Kalman filter, but it is not well formulated in the theoretical standpoint and doesn't work well.

Voxelized GICP for Fast and Accurate 3D Point Cloud Registration, ICRA2021 https://staff.aist.go.jp/k.koide/assets/pdf/icra2021_02.pdf

koide3 avatar Oct 14 '22 13:10 koide3