A New Spin-Image Based 3D Map Registration Algorithm Using Low-Dimensional Feature Space
文献类型：会议论文
| 作者 | Mei YG(梅元刚); He YQ(何玉庆)
|
| 出版日期 | 2013 |
| 会议名称 | 2013 IEEE International Conference on Information and Automation |
| 会议日期 | August 26-28, 2013 |
| 会议地点 | Yinchuan, China |
| 关键词 | Point cloud map registration spin image k-d tree, features description |
| 页码 | 545-551 |
| 通讯作者 | 梅元刚 |
| 中文摘要 | Spin image is a good feature descriptor of the 3D surface, thus it has been extensively used in many applications such as SLAM of mobile robot and cooperation of heterogeneous robots. However, due to the huge computational burden, it is difficult to be used in real time applications. Thus, in order to improve the efficiency and accuracy of spin image based point clouds registration algorithm, a fast registration algorithm is proposed in this paper based on low-dimensional feature space composed of curvature, the Tsallis entropy of the spin image and laser reflection intensity. The main contribution of this paper is that through constructing the low dimensional feature space, the correspondence searching procedure can be divided into two steps: firstly, select similar key points in the proposed low dimensional feature space using k-d tree; then spin image feature is used to search for correspondences among a very limited amount of point candidates. Finally, experiments with respect to a man made surroundings are conducted and the results show the feasibility and validity of the new proposed algorithm. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议录 | Proceeding of the IEEE International Conference on Information and Automation
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | NEW YORK |
| 语种 | 英语 |
| ISBN号 | 978-1-4977-1334-3 |
| WOS记录号 | WOS:000346483800099 |
| 源URL | [http://ir.sia.cn/handle/173321/13895]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Mei YG,He YQ. A New Spin-Image Based 3D Map Registration Algorithm Using Low-Dimensional Feature Space[C]. 见:2013 IEEE International Conference on Information and Automation. Yinchuan, China. August 26-28, 2013. |
入库方式： OAI收割
来源：沈阳自动化研究所
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