[{"data":1,"prerenderedAt":159},["ShallowReactive",2],{"method-hong2010vicp":3},{"method":4,"reference":47,"equipment":67,"figures":81,"results":82},{"id":5,"label":6,"shortName":7,"title":8,"year":9,"era":10,"cluster":11,"scope":12,"keyIdeaZh":13,"keyIdeaEn":14,"fulltextStatus":15,"publicationStatus":16,"recommendation":17,"constructionRelevance":18,"validationEnvironment":19,"strengths":22,"limitations":27,"sensors":32,"platform":34,"estimator":36,"association":37,"timeModel":38,"deskew":39,"loopClosure":40,"globalOptimization":40,"mapRepresentation":41,"prior":40,"outputGeometry":42,"compute":43,"codeUrl":44,"codeLicense":45,"relatedVersions":46},"hong2010vicp","Hong et al., 2010","VICP","VICP: Velocity updating iterative closest point algorithm",2010,"classic","C13","registration_component","一般 ICP 假設同一次掃描的點同時量測，但測距儀是逐點依序量測，快速運動時會產生掃描畸變並累積追蹤誤差。VICP 假設掃描期間速度固定，以前後兩次掃描的相對轉換估計測距儀的本體速度，據以校正每個點後重跑 ICP，再更新速度直到收斂；採用以最後一點為基準的反向補償，使位姿不因掃描時間而延遲，並依感測範圍剔除沒有對應的點。作者以 2D Hokuyo 測距儀在模擬與辦公室推車實驗中驗證（Sec. IV 至 VI）。","Estimates rangefinder velocity during ICP iterations to compensate scan distortion caused by sequential point acquisition.","full_text_reviewed","peer_reviewed_published","background","not_reported",[20,21],"simulation","completed_building",[23,24,25,26],"Lower return-to-start drift than original ICP in all four office experiments, e.g. 177 mm and 7.28 deg versus 2191 mm and 58.14 deg in experiment 1 (Table II)","Advantage is largest for faster motion (experiment 2 at about 2.7 m\u002Fs average: 65 mm versus 2014 mm) (Sec. VI, Table II)","Total computation grows by less than twice that of ICP (Sec. IV-C, Fig. 5)","Backward compensation yields an up-to-date pose (Sec. IV-B)",[28,29,30,31],"Assumes constant velocity during one scan (Sec. IV-B)","Convergence of the velocity iteration is observed but not proven (Sec. IV-B)","Real-world accuracy judged only by return-to-start drift because ground truth was unavailable (Sec. VI)","Tested only with a 2D rangefinder, in simulation and in one small office (Sec. V, VI)",[33],"2D laser rangefinder (Hokuyo URG-04LX, written HOKUYO URG04-LX)",[20,35],"cart pushed by a person carrying the rangefinder and a laptop in an office (7.2 m x 7.8 m)","ICP with velocity update","2D point-to-point closest-point ICP solved by SVD (Algorithm 1), with points outside the pie-shaped sensing area of the previous scan rejected as outliers","constant velocity within a scan","each point transformed with the constant body velocity estimated from the relative ICP transform (backward difference over the scan interval) and re-estimated in an outer loop until the velocity converges; backward compensation uses the last point as reference so the pose is not delayed by the scan time","none","not_applicable","2D rangefinder trajectory and motion-compensated scans","C++ on a laptop with an Intel dual core 2.0 GHz CPU; total cost grows by less than twice that of ICP because ICP iterations drop as the velocity converges; no timings reported",null,"not_verified",[],{"id":5,"kind":48,"shortName":7,"title":8,"authors":49,"year":9,"venue":53,"venueType":54,"publisher":55,"volumeIssuePages":56,"doi":57,"arxivId":44,"url":58,"firstPublicDate":59,"publicationStatus":16,"metadataStatus":60,"fulltextStatus":15,"era":10,"classicReason":61,"codeUrl":44,"cluster":11,"topics":62,"mdpi":63,"verification":64,"label":6,"fulltextRoute":65,"versionRead":66,"addedByCensus":63},"component",[50,51,52],"Seungpyo Hong","Heedong Ko","Jinwook Kim","2010 IEEE International Conference on Robotics and Automation","conference","IEEE","pp. 1893-1898","10.1109\u002Frobot.2010.5509312","https:\u002F\u002Fdoi.org\u002F10.1109\u002FROBOT.2010.5509312","2010-05","metadata_verified","necessary technical node: first widely cited ICP variant that estimates sensor velocity inside ICP to compensate intra-scan motion distortion from sequential range measurement.",[11],false,"confirmed","NTU institutional (Chrome)","IEEE Xplore version of record PDF (ICRA 2010, pp. 1893-1898, 6 pages), text extracted in the browser",[68,75],{"category":69,"model":70,"canonical":71,"role":72,"dataset":44,"specs":73,"locator":74},"lidar","HOKUYO URG04-LX","Hokuyo URG-04LX","method input","2D laser scanner; 785 nm; accuracy plus or minus 10 mm; resolution 1 mm; scan angle 240 deg; range 4000 mm; angular resolution 0.36 deg; 100 ms per scan; 50 x 50 x 70 mm; the paper spells the model URG04-LX (the vendor spelling is URG-04LX)","Table I, Sec. V, VI",{"category":76,"model":77,"canonical":77,"role":78,"dataset":44,"specs":79,"locator":80},"compute","laptop with Intel dual core 2.0 GHz CPU","compute for runtime","C++ implementation; no timings reported","Sec. VI",[],{"totalRows":83,"groupCount":84,"groups":85,"others":158},8,1,[86],{"slug":87,"group":88,"sourceId":5,"sourceLabel":6,"table":89,"selfRows":83,"metrics":90,"seqs":98,"entrants":109,"cells":114,"outcomes":151,"locators":152,"hardware":153,"wordings":154,"notes":155},"hong2010vicp-table-ii","hong2010vicp:Table II","Table II",[91,95],{"label":92,"unit":93,"statistic":18,"alignment":94},"R. Error","deg","first-pose",{"label":96,"unit":97,"statistic":18,"alignment":94},"T. Error","mm",[99,103,105,107],{"dataset":100,"sequence":101,"environment":102},"own office experiments","Experiment 1 (curved path, 16.9 s, about 1.2 m\u002Fs)","office room 7.2 m x 7.8 m",{"dataset":100,"sequence":104,"environment":102},"Experiment 2 (curved path, faster, 7.3 s, about 2.7 m\u002Fs)",{"dataset":100,"sequence":106,"environment":102},"Experiment 3 (4.5 m straight forward and back, 25 s)",{"dataset":100,"sequence":108,"environment":102},"Experiment 4 (4.5 m straight forward and back, faster, 15 s)",[110,112],{"name":111,"methodId":44,"linkable":63,"proposed":63,"self":63},"Original ICP",{"name":7,"methodId":5,"linkable":113,"proposed":113,"self":113},true,[115,119,121,123,125,127,129,131,133,136,138,140,142,145,147,149],[116,116,116,117,118,116,118,118,116],0,58.14,-1,[116,84,116,120,118,116,118,118,84],2191,[84,116,116,122,118,116,118,118,84],7.28,[84,84,116,124,118,116,118,118,84],177,[116,116,84,126,118,116,118,118,84],79.98,[116,84,84,128,118,116,118,118,84],2014,[84,116,84,130,118,116,118,118,84],17.06,[84,84,84,132,118,116,118,118,84],65,[116,116,134,135,118,116,118,118,84],2,16.8,[116,84,134,137,118,116,118,118,84],1490,[84,116,134,139,118,116,118,118,84],6.88,[84,84,134,141,118,116,118,118,84],408,[116,116,143,144,118,116,118,118,84],3,54.59,[116,84,143,146,118,116,118,118,84],2942,[84,116,143,148,118,116,118,118,84],3.28,[84,84,143,150,118,116,118,118,84],210,[],[89],[],[],[156,157],"Office experiments with cart-carried URG-04LX; drift error on return to the starting point (no ground truth)","Office experiments; return-to-start drift",[],1790510660939]