中国科学院机构知识库网格
Chinese Academy of Sciences Institutional Repositories Grid
Enhanced ICP for the registration of large-scale 3D environment models: An experimental study

文献类型:期刊论文

作者Han JD(韩建达); Yin P(殷鹏); He YQ(何玉庆); Gu F(谷丰)
刊名SENSORS
出版日期2016
卷号16期号:2页码:1-15
关键词3d Model Registration Multiple Heterogeneous Mobile Robots Enhanced Icp
ISSN号1424-8220
产权排序1
英文摘要One of the main applications of mobile robots is the large-scale perception of the outdoor environment. One of the main challenges of this application is fusing environmental data obtained by multiple robots, especially heterogeneous robots. This paper proposes an enhanced iterative closest point (ICP) method for the fast and accurate registration of 3D environmental models. First, a hierarchical searching scheme is combined with the octree-based ICP algorithm. Second, an early-warning mechanism is used to perceive the local minimum problem. Third, a heuristic escape scheme based on sampled potential transformation vectors is used to avoid local minima and achieve optimal registration. Experiments involving one unmanned aerial vehicle and one unmanned surface vehicle were conducted to verify the proposed technique. The experimental results were compared with those of normal ICP registration algorithms to demonstrate the superior performance of the proposed method.
WOS关键词SPIN IMAGE
WOS研究方向Chemistry ; Electrochemistry ; Instruments & Instrumentation
语种英语
WOS记录号WOS:000371787800098
资助机构National Natural Science of China (Grant Nos. 61473282, 61433016) and the State Key Laboratory of Robotics (Grand No. 2015-Z02)
源URL[http://ir.sia.cn/handle/173321/17711]  
专题沈阳自动化研究所_机器人学研究室
通讯作者Yin P(殷鹏); He YQ(何玉庆)
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
2.University of Chinese Academy of Sciences, Beijing, China
推荐引用方式
GB/T 7714
Han JD,Yin P,He YQ,et al. Enhanced ICP for the registration of large-scale 3D environment models: An experimental study[J]. SENSORS,2016,16(2):1-15.
APA Han JD,Yin P,He YQ,&Gu F.(2016).Enhanced ICP for the registration of large-scale 3D environment models: An experimental study.SENSORS,16(2),1-15.
MLA Han JD,et al."Enhanced ICP for the registration of large-scale 3D environment models: An experimental study".SENSORS 16.2(2016):1-15.

入库方式: OAI收割

来源:沈阳自动化研究所

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