NDT概念
正态分布变换(NormalDistribution Transformation , NDT)
概率密度函数( ProbabilityDensity Function, PDF)
First proposed for two dimensional scandata registration by Biber & Strasser in 2003.
An NDT is described as a set of PDFs.
The first step of the algorithm is tosubdivide the space occupied by the scan into a grid of cells (squares in the2D case, or cubes in 3D).