Colored Point Cloud Registration Revisited Supplementary Material

نویسندگان

  • Jaesik Park
  • Qian-Yi Zhou
  • Vladlen Koltun
چکیده

As in Section 4.3, this objective is minimized using the Gauss-Newton method. Specifically, we start from an initial transformation T and perform optimization iteratively. In each iteration, we locally parameterize T with a 6-vector ξ, evaluate the residual r and Jacobian Jr at T, solve the linear system in (21) to compute ξ, and use ξ to update T. To compute the Jacobian, we need the partial derivatives of the residuals. They are

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تاریخ انتشار 2017