This work stems from a project aimed at designing an Unmanned Aerial Vehicle (UAV) for sewer inspection. Localization is key for successful operation in such scenario. This paper explores the topic of point cloud registration for its execution on a platform with limited computational resources, such as the embedded Raspberry Pi system. The presented work evaluates the feasibility of using 3D Time-of-Flight (ToF) camera sensors to achieve localization in GNSS-denied environments. Point cloud registration algorithms specifically tailored for the application at hand are implemented, and their performance and feasibility are evaluated.
Bernal-Polo et al. (Wed,) studied this question.