An Enhanced Positioning Algorithm for a Self-Referencing Hand-Held 3D Sensor

This study deals with the design of an enhanced selfreferencing algorithm for a typical hand-held 3D sensor. The enhancement we propose takes the form of a new algorithm which forms and matches triangles out of the scatter of observed reference points and the sensor’s list of reference points. Three different techniques to select which triangles to consider in each scatter of points are considered in this paper, and theoretical arguments and experimental results are used to determine the best of the three.

• Type: Conference
• Year: 2006
• Where: CRV
• Authors: Richard Khoury
• Keywords: CRV 2006, Enhanced Selfreferencing Algorithm, Hand-held 3D Sensor, Reference Points, Robotics