Description

The video illustrates the behavior of sICP, sIDC and spIC in front of a large error in the initial estimate 
and the low sonar angular resolution. sICP and sIDC are adapted versions of the well-known ICP and IDC 
algorithms to be used with sonar data. Our proposal, the spIC, is based on a probabilistic point of view
accounting for errors in the initial estimate and the low sonar angular resolution. The video shows how
both sICP and sIDC perform wrong associations and get trapped in a local minimum. On the contrary, 
associations are much better in the spIC approach, and the process is not trapped by the local minimum.

Player software

The file is MPEG-1. It has been tested with WinAmp 5.21 and Windows Media Player v. 8.00.00.4495 using the
Microsoft MPEG-1 Video Decoder, Version 2.0.

Contact information

Antoni Burguera Burguera
Dept. Matemątiques i Informątica. 
Universitat de les Illes Balears.
Ctra. Valldemossa, km. 7'5
07122 Palma de Mallorca
Spain

e-mail: antoni.burguera@uib.es
web:    http://dmi.uib.es/~srv/
        http://dmi.uib.es/~burguera/

Tel:    +34 971 172911
Fax:    +34 971 173003



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