Top-view-based (Coarse) Registration Settings

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Subsampling

The result of the registration can be adjusted through the subsampling rate. The value defines the size of the grid in which scan point homogenization is performed. The resulting grid of points will be used to perform the registration. When you move the slider, the set value will be shown. Five centimeters (0.05m) usually work for all environments. If you are indoors, in an industrial environment, you can reduce the subsampling to 0.35m or even 0.25m.

Reliability

The reliability value determines the amount of additional checks on a registration. It filters out results that could be contested. Higher values allow for more certainty, but could affect the needed time by algorithm to provide a solution. Set the slider to the value which you expect to bring the result you want. As soon as you move the button, the set value will be shown.