Incremental-Segment-Based Localization in 3-D Point Clouds.

Localization in 3-D point clouds is a highly challenging task due to the complexity associated with extracting information from 3-D data. This letter proposes an incremental approach addressing this problem efficiently. The presented method first accumulates the measurements in a dynamic voxel grid and selectively updates the point normals affected by the insertion. An incremental segmentation alg...