Weight algorithm based depth camera point-to-plane ICP algorithm
文献类型：会议论文
| 作者 | Zeng YJ(曾毓菁)1,2,3; Jiang Y(姜勇)1,2
|
| 出版日期 | 2021 |
| 会议日期 | July 27-31, 2021 |
| 会议地点 | Jiaxing, China |
| 页码 | 799-804 |
| 英文摘要 | We propose a weight algorithm to improve the accuracy and robustness of ICP algorithm. Existing methods tend to drift in scenes without sufficient geometric information. First, we propose a new weight method for ICP algorithm of point-to-plane error metric. By detecting the uncertainty of the pose, we apply a weight to each point according to the constraints of the potentially unstable transformation. our algorithm achieves accurate and robust trajectory estimation results. Secondly, we compare the most advanced weight algorithms and propose a depth value quadratic attenuation algorithm based on the measurement characteristics of consumer depth cameras. Results on the public TUM RGB-D database benchmark show that our ICP algorithm achieves state-of-the-art results in terms of accuracy. © 2021 IEEE. |
| 源文献作者 | IEEE Robotics and Automation Society ; Shenyang Institute of Automation CAS ; Shenzhen Academy of Robotics |
| 产权排序 | 1 |
| 会议录 | 2021 IEEE 11th International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2021
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISSN号 | 2642-6633 |
| ISBN号 | 978-1-6654-2527-8 |
| 源URL | [http://ir.sia.cn/handle/173321/29934]  |
| 专题 | 工艺装备与智能机器人研究室 |
| 通讯作者 | Jiang Y(姜勇) |
| 作者单位 | 1.College of Information Science and Engineering, Northeastern University, Shenyang, China 2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China 3.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China |
| 推荐引用方式 GB/T 7714 | Zeng YJ,Jiang Y. Weight algorithm based depth camera point-to-plane ICP algorithm[C]. 见:. Jiaxing, China. July 27-31, 2021. |
入库方式： OAI收割
来源：沈阳自动化研究所
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