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LIE GROUP FRAMEWORK OF ITERATIVE CLOSEST POINT ALGORITHM FOR n-D DATA REGISTRATION

文献类型：期刊论文

作者Ying, Shihui1,2; Peng, Jigen1; Du, Shaoyi3; Qiao, Hong4
刊名INTERNATIONAL JOURNAL OF PATTERN RECOGNITION AND ARTIFICIAL INTELLIGENCE
出版日期2009-09-01
卷号23期号:6页码:1201-1220
关键词ICP Lie group registration iterative linear systems initial parameters
英文摘要The iterative closet point (ICP) method is a dominant method for data registration that has attracted extensive attention. In this paper, a unified mathematical model of ICP based on Lie group representation is established. Under the framework, the registration problem is formulated into an optimization problem over a certain Lie group. In order to simplify the model and to reduce the dimension of parameter space, the translation part of geometric transformation is eliminated by calibrating the centers of two data sets under registration. As a result, a fast algorithm by solving an iterative linear system is designed for the optimization problem on Lie groups. Moreover, PCA and ICA methods are jointly applied to estimate the initial registration to achieve the global minimum. Finally, several illustrations and comparison experiments are presented to test the performance of the proposed algorithm.
WOS标题词Science & Technology ; Technology
类目[WOS]Computer Science, Artificial Intelligence
研究领域[WOS]Computer Science
关键词[WOS]NONRIGID REGISTRATION ; IMAGE REGISTRATION ; 3D ; SURFACES ; MATRIX ; SETS ; ICP
收录类别SCI
语种英语
WOS记录号WOS:000269776400008
源URL[http://ir.ia.ac.cn/handle/173211/3015]  
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, Inst Informat & Syst Sci, Fac Sci, Xian 710049, Peoples R China
2.Shanghai Univ, Fac Sci, Dept Math, Shanghai 200444, Peoples R China
3.Xi An Jiao Tong Univ, Inst Artificial Intelligence & Robot, Xian 710049, Peoples R China
4.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. LIE GROUP FRAMEWORK OF ITERATIVE CLOSEST POINT ALGORITHM FOR n-D DATA REGISTRATION[J]. INTERNATIONAL JOURNAL OF PATTERN RECOGNITION AND ARTIFICIAL INTELLIGENCE,2009,23(6):1201-1220.
APA Ying, Shihui,Peng, Jigen,Du, Shaoyi,&Qiao, Hong.(2009).LIE GROUP FRAMEWORK OF ITERATIVE CLOSEST POINT ALGORITHM FOR n-D DATA REGISTRATION.INTERNATIONAL JOURNAL OF PATTERN RECOGNITION AND ARTIFICIAL INTELLIGENCE,23(6),1201-1220.
MLA Ying, Shihui,et al."LIE GROUP FRAMEWORK OF ITERATIVE CLOSEST POINT ALGORITHM FOR n-D DATA REGISTRATION".INTERNATIONAL JOURNAL OF PATTERN RECOGNITION AND ARTIFICIAL INTELLIGENCE 23.6(2009):1201-1220.

入库方式： OAI收割

来源：自动化研究所

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