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About this paper
Sehoon Tak, Jae-Sang Hyun
The authors construct a per-point 3D covariance for structured-light scans by measuring phase variability across repeated captures and propagating it through calibrated phase-to-depth and phase-to-3D mappings. The resulting uncertainty is elongated, with its dominant direction averaging 0.90° from the viewing ray. In G-ICP tests, it improved translation RMSE over isotropic weighting but not local-PCA geometry-derived covariance.
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