Robust parameter estimation from point cloud data with noises for augmented reality
文献类型：会议论文
| 作者 | Zhang TH(张天浩); Wei YZ(魏英姿); Shi, Zhengjin; Gu KF(谷侃锋)
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| 出版日期 | 2017 |
| 会议名称 | 36th Chinese Control Conference, CCC 2017 |
| 会议日期 | July 26-28, 2017 |
| 会议地点 | Dalian, China |
| 关键词 | Point clouds Attitude estimation Model reconstruction Augmented reality Random sample consensus |
| 页码 | 5247-5252 |
| 通讯作者 | Wei YZ(魏英姿) |
| 中文摘要 | Allowing for a priori optimization of the robot manipulation to improve the performance in the unmanned environment, it is critical for the augmented reality system to estimate the attitude of point clouds in model reconstruction. The estimation of planar parameter is not always faithful for point cloud fitting, because the gross errors and outliers are not considered in by the traditional plane fitting methods. Our attempt is to combine the random sample consensus and the least-squares method to detect and eliminate the outliers of point clouds for the plane fitting. Optical 3D scanning system is applied for collecting the real data of point cloud from the planar sandpaper. After the preprocessing, the point clouds are imported into OpenGL for the 3D model reconstruction. The modeling process is depicted, too. The comparative simulation experimental results between our method and the traditional methods, such as least-squares and eigenvalue method, are provided. Moreover, our method is applied to the experiment of 3D laser scanning point cloud planes for the attitude estimation. The method is validated on both simulated data and real data. Competitive results show that our method has better robustness and accuracy, especially for the point clouds containing various errors and outliers. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 2 |
| 会议主办者 | Dalian University of Technology; Systems Engineering Society of China (SESC); Technical Committee on Control Theory (TCCT), Chinese Association of Automation (CAA) |
| 会议录 | Proceedings of the 36th Chinese Control Conference, CCC 2017
 |
| 会议录出版者 | IEEE Computer Society |
| 会议录出版地 | Piscataway, NJ, USA |
| 语种 | 英语 |
| ISSN号 | 1934-1768 |
| ISBN号 | 978-1-5386-2918-5 |
| WOS记录号 | WOS:000432014400122 |
| 源URL | [http://ir.sia.cn/handle/173321/21058]  |
| 专题 | 沈阳自动化研究所_装备制造技术研究室 |
| 作者单位 | 1.Shenyang Institute of Automation, Chinese Academy of Science, Shenyang, 110016, China 2.Shenyang Ligong University, School of Information Science and Engineering, Shenyang, 110159, China |
| 推荐引用方式 GB/T 7714 | Zhang TH,Wei YZ,Shi, Zhengjin,et al. Robust parameter estimation from point cloud data with noises for augmented reality[C]. 见:36th Chinese Control Conference, CCC 2017. Dalian, China. July 26-28, 2017. |
入库方式： OAI收割
来源：沈阳自动化研究所
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