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A Scale Stretch Method Based on ICP for 3D Data Registration

文献类型：期刊论文

作者Ying, Shihui1; Peng, Jigen1; Du, Shaoyi2; Qiao, Hong3
刊名IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING
出版日期2009-07-01
卷号6期号:3页码:559-565
关键词Initial registration iterative closest point (ICP) large-scale stretch singular value decomposition (SVD) 3D registration
英文摘要In this paper, we are concerned with the registration of two 3D data sets with large-scale stretches and noises. First, by incorporating a scale factor into the standard iterative closest point (ICP) algorithm, we formulate the registration into a constraint optimization problem over a 71) nonlinear space. Then, we apply the singular value decomposition (SVD) approach to iteratively solving such optimization problem. Finally, we establish a new ICP algorithm, named Scale-ICP algorithm, for registration of the data sets with isotropic stretches. In order to achieve global convergence for the proposed algorithm, we propose a way to select the initial registrations. To demonstrate the performance and efficiency of the proposed algorithm, we give several comparative experiments between Scale-ICP algorithm and the standard ICP algorithm.
WOS标题词Science & Technology ; Technology
类目[WOS]Automation & Control Systems
研究领域[WOS]Automation & Control Systems
关键词[WOS]POINT SETS ; ALGORITHMS ; FRAMEWORK ; SURFACES ; SHAPES
收录类别SCI
语种英语
WOS记录号WOS:000267697800018
源URL[http://ir.ia.ac.cn/handle/173211/3006]  
专题自动化研究所_复杂系统管理与控制国家重点实验室_机器人应用与理论组
作者单位1.Xi An Jiao Tong Univ, Fac Sci, Inst Informat & Syst Sci, Xian 710049, Peoples R China
2.Xi An Jiao Tong Univ, Inst Artificial Intelligence & Robot, Xian 710049, Peoples R China
3.Chinese Acad Sci, Inst Automat, Key Lab Complex Syst & Intelligent Sci, Beijing 100080, Peoples R China
推荐引用方式
GB/T 7714		 Ying, Shihui,Peng, Jigen,Du, Shaoyi,et al. A Scale Stretch Method Based on ICP for 3D Data Registration[J]. IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING,2009,6(3):559-565.
APA Ying, Shihui,Peng, Jigen,Du, Shaoyi,&Qiao, Hong.(2009).A Scale Stretch Method Based on ICP for 3D Data Registration.IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING,6(3),559-565.
MLA Ying, Shihui,et al."A Scale Stretch Method Based on ICP for 3D Data Registration".IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING 6.3(2009):559-565.

入库方式： OAI收割

来源：自动化研究所

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