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An Efficient Outlier Rejection Algorithm for Point Cloud Registration

文献类型：期刊论文

作者Xiang, Siyi1; Guo, Shiyi2; Wei, Hao2; Liu, Bingxi3; Zhang, Dabo1
刊名IEEE SIGNAL PROCESSING LETTERS
出版日期2024
卷号31页码:1775-1779
关键词Point cloud compression Feature extraction Accuracy Signal processing algorithms Noise Noise reduction Matrix decomposition Outlier rejection point cloud registration hand-crafted algorithm 3D feature spatial consistency
ISSN号1070-9908
DOI10.1109/LSP.2024.3422796
通讯作者Zhang, Dabo(Zhangdb@lnu.edu.cn)
英文摘要Point cloud registration plays an important role in many applications of computer vision and robotics. Outlier rejection is an essential step in this task. In this letter, we propose an efficient hand-crafted outlier rejection algorithm for point cloud registration. The proposed method includes four modules: seed selection, consensus set construction and sampling, transformation matrix calculation, and hypothesis selection. Particularly, we propose a novel seed selection module based on the addition of elements in the Spatial Consistency (SC) matrix and a new noise suppression strategy in constructing consensus sets. Experimental results on various datasets show that the proposed algorithm presents superior performance over the previous hand-crafted methods.
WOS关键词ICP
WOS研究方向Engineering
语种英语
WOS记录号WOS:001266106800004
出版者IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
源URL[http://ir.ia.ac.cn/handle/173211/59207]  
专题自动化研究所_模式识别国家重点实验室_机器人视觉团队
通讯作者Zhang, Dabo
作者单位1.Liaoning Univ, Coll Informat, Shenyang 110036, Peoples R China
2.Chinese Acad Sci, Inst Automat, State Key Lab Multimodal Artificial Intelligence S, Beijing 100190, Peoples R China
3.Peng Cheng Lab, Shenzhen, Peoples R China
推荐引用方式
GB/T 7714		 Xiang, Siyi,Guo, Shiyi,Wei, Hao,et al. An Efficient Outlier Rejection Algorithm for Point Cloud Registration[J]. IEEE SIGNAL PROCESSING LETTERS,2024,31:1775-1779.
APA Xiang, Siyi,Guo, Shiyi,Wei, Hao,Liu, Bingxi,&Zhang, Dabo.(2024).An Efficient Outlier Rejection Algorithm for Point Cloud Registration.IEEE SIGNAL PROCESSING LETTERS,31,1775-1779.
MLA Xiang, Siyi,et al."An Efficient Outlier Rejection Algorithm for Point Cloud Registration".IEEE SIGNAL PROCESSING LETTERS 31(2024):1775-1779.

入库方式： OAI收割

来源：自动化研究所

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