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Efficient rotation estimation for 3D registration and global localization in structured point clouds

文献类型：期刊论文

作者Ma, Yanxin1; Guo, Yulan1,3; Lei, Yinjie2; Lu, Min1; Zhang, Jun1
刊名IMAGE AND VISION COMPUTING
出版日期2017-11-01
卷号67页码:52-66
关键词Structured point clouds Small overlaps Registration Global localization ICP Direction angle
ISSN号0262-8856
DOI10.1016/j.imavis.2017.09.003
英文摘要Fully automatic 3D point cloud registration for structured scenes is a highly challenging task. In this paper, an efficient rotation estimation algorithm is proposed for point clouds of structured scenes. This algorithm fully employs the geometric information of structured environment. For rotation estimation, a direction angle is defined for a point cloud and then the rotation matrix is obtained by comparing the difference between the distributions of angles. The proposed rotation estimation algorithm is used for both 3D registration and global localization. To conduct a full 3D registration, the translation parameters are estimated by aligning the centers of the corresponding points while the rotation parameters are estimated by the proposed algorithm. For global localization, a translation estimation algorithm is proposed using projection information. The point clouds are projected onto the orthogonal plane and template matching is performed on the projection images to calculate the translation vector. Experiments have been conducted on two datasets. Experimental results demonstrate that the proposed algorithm outperforms the state-of-the-art approaches in terms of both accuracy, computational efficiency and robustness. (C) 2017 Elsevier B.V. All rights reserved.
资助项目National Natural Science Foundation of China[61602499] ; National Natural Science Foundation of China[61601488] ; National Natural Science Foundation of China[61471371] ; National Natural Science Foundation of China[61403265] ; National Postdoctoral Program for Innovative Talents[BX201600172] ; Science and Technology Plan of Sichuan Province[2015SZ0226]
WOS研究方向Computer Science ; Engineering ; Optics
语种英语
WOS记录号WOS:000414883800005
出版者ELSEVIER SCIENCE BV
源URL[http://119.78.100.204/handle/2XEOYT63/6508]  
专题中国科学院计算技术研究所期刊论文_英文
通讯作者Guo, Yulan
作者单位1.Natl Univ Def Technol, Coll Elect Sci & Engn, Changsha, Hunan, Peoples R China
2.Sichuan Univ, Coll Elect & Informat Engn, Chengdu, Sichuan, Peoples R China
3.Chinese Acad Sci, Inst Comp Technol, Beijing, Peoples R China
推荐引用方式
GB/T 7714		 Ma, Yanxin,Guo, Yulan,Lei, Yinjie,et al. Efficient rotation estimation for 3D registration and global localization in structured point clouds[J]. IMAGE AND VISION COMPUTING,2017,67:52-66.
APA Ma, Yanxin,Guo, Yulan,Lei, Yinjie,Lu, Min,&Zhang, Jun.(2017).Efficient rotation estimation for 3D registration and global localization in structured point clouds.IMAGE AND VISION COMPUTING,67,52-66.
MLA Ma, Yanxin,et al."Efficient rotation estimation for 3D registration and global localization in structured point clouds".IMAGE AND VISION COMPUTING 67(2017):52-66.

入库方式： OAI收割

来源：计算技术研究所

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