A Novel Improved Probability-Guided RANSAC Algorithm for Robot 3D Map Building

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/js/volume-2016/3243842/figures/3243842.fig.0010a.svgz" name="3243842.fig.0010a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>ICP-based method</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/js/volume-2016/3243842/figures/3243842.fig.0010b.svgz" name="3243842.fig.0010b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Dense image-based method</td></tr><tr class="fig-image" id="c"><td><object data="https://static.hindawi.com/articles/js/volume-2016/3243842/figures/3243842.fig.0010c.svgz" name="3243842.fig.0010c" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(c) </b>RANSAC-based method</td></tr><tr class="fig-image" id="d"><td><object data="https://static.hindawi.com/articles/js/volume-2016/3243842/figures/3243842.fig.0010d.svgz" name="3243842.fig.0010d" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(d) </b>The proposed IPGSAC-based method</td></tr></table>

<div>The generated mapping before the loop optimization.</div>

Journal of Sensors

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Figure 10

Figure 10: A Novel Improved Probability-Guided RANSAC Algorithm for Robot 3D Map Building 