6D-NDT(X-Y-Z-R-G-B)

[mertyavuz41]

Hi there,

I know 3D-NDT already very robust and powerful but 3D-NDT tend to be failure in such a featureless environments because of its highly rely on geometrical features.

Increasing dimension of NDT might help to handle such a featureless environments, like 6D NDT(xyzrgb). In this way, the road line will be considerable.

Here the comparison with 3D-NDT and 6D-NDT;

https://www.diva-portal.org/smash/get/diva2:276162/FULLTEXT02.pdf

In this paper include a studies that explain and compare colored NDT at page 125.

the conculusion of 6D-NDT:

In this chapter, a kernel-based extension to the NDT scan registration algorithm
has been presented. Colour-NDT is more robust than purely geometric NDT
for 3D scans with little geometric features.

...

Colour-NDT can successfully be applied in such cases. As a general recommendation for colour-aware 3D
registration, the combined registration algorithm of Huhle et al. — but using
Colour-NDT instead of 3D-NDT — should be used.

I couldn't find any studies that shows how the execution time complexity will be, but obviously 6D-NDT will run more slowly.