{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/joint-pose-and-principal-curvature-refinement","title":"Joint Pose and Principal Curvature Refinement Using Quadrics","arxiv_id":"1707.00381","date":"2017-07-03","proceeding":null,"authors":["Andrew Spek","Tom Drummond"],"abstract":"In this paper we present a novel joint approach for optimising surface\ncurvature and pose alignment. We present two implementations of this joint\noptimisation strategy, including a fast implementation that uses two frames and\nan offline multi-frame approach. We demonstrate an order of magnitude\nimprovement in simulation over state of the art dense relative point-to-plane\nIterative Closest Point (ICP) pose alignment using our dense joint\nframe-to-frame approach and show comparable pose drift to dense point-to-plane\nICP bundle adjustment using low-cost depth sensors. Additionally our improved\njoint quadric based approach can be used to more accurately estimate surface\ncurvature on noisy point clouds than previous approaches.","url_abs":"http://arxiv.org/abs/1707.00381v2","url_pdf":"http://arxiv.org/pdf/1707.00381v2.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"joint-pose-and-principal-curvature-refinement","repo_url":"https://github.com/aspek1/QuadricCurvature","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"none","reach":null}],"tasks":[],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"syntology_url":null,"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}