Lidar mapping techniques using multiple sensors

For aligning two point clouds from lidar, we can define the objective function in the following way. Let’s consider moving the measured point cloud M to line up with the static scene point cloud S. For every point in M, we find the closest point in S. Then, the objective function is the sum of squared distances of every point in M to its corresponding point. We try to minimize the objective function by rotating and shifting the point cloud M.

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