Solving the point-plane problem for the class of affine transformations and development of a fast iterative algorithm for registering of 3D point clouds
- 1 «Information Technology and system», Research Laboratory, Chelyabinsk State University, Chelyabinsk, Russian Federation
- 2 Ugra State University, Khanty-Mansiysk, Russian Federation
- 3 «Intelligent information technology and systems», Research Laboratory, Chelyabinsk State University, Chelyabinsk, Russian Federation
Abstract
Solution to the point-plane problem for the class of affine transformations will be found, and a fast accuracy iterative algorithm for registering 3D point clouds will be designed.
References
- Hertzberg C., Wagner R. and Birbach O. “Experiences in building a visual slam system from open source components”. In: Proc. IEEE International Conference on Robotics and Automation, 2011, pp. 2644-2651.
- Henry P., Krainin M. and Herbst E. “RGB-D mapping: Using depth cameras for dense 3D modeling of indoor environments”. In. Proc. 12th International Symposium on Experimental Robotics, 2014, pp. 477-491.
- Vokhmintsev A. and Yakovlev K. “A Real-time Algorithm for Mobile Robot Mapping Based on Rotation invariant Descriptors and ICP”. In: Proc. of 5th Analysis of Images, Social Networks and Texts. Springer. Communications in Computer and Information Science, Vol. 661, 2017, pp. 357- 369.
- Besl P. and McKay N. “A method for registration of 3-D shapes”. IEEE Transactions of Pattern Analysis and Machine Intelligence, 1992, 14 (2): 239–256.
- Vokhmintsev A., Timchenko M. and Yakovlev K. “Simultaneous localization and mapping in unknown environment using dynamic matching of images and registration of point clouds”. In: Proc. of IEEE Proc. 2nd International Conference on Industrial Engineering, Applications and Manufacturing (ICIEAM), 2017.
- Chen Y. “Kalman filter for robot vision: a survey”. Journal IEEE Transactions on Industrial Electronics, 2012, 59: 4409– 4420.
- Horn B. “Closed-Form Solution of Absolute Orientation Using Unit Quaternions”. Journal of the Optical Society of America A, 1987, 4(4): 629–642.
- Horn B., Hilden H. and Negahdaripour S. “Closed-form Solution of Absolute Orientation Using Orthonormal Matrices”. Journal of the Optical Society of America A, 1988, 5(7): 1127- 1135.
- Du S., Zheng N., Ying S. and Liu J. “Affine iterative closest point algorithm for point set registration”. Pattern Recognition Letters, 2010, 31: 791–799.
- Low K.L. “Linear least-squares optimization for point-to-plane ICP surface registration”. Technical Report TR04-004, Department of Computer Science, University of North Carolina at Chapel Hill, 2004.
- Khoshelham K. “Closed-form solutions for estimating a rigid motion from plane correspondences extracted from point clouds”. ISPRS Journal of Photogrammetry and Remote Sensing, 2016, 114: 78–91.
- Vokhmintsev A. and Yakovlev K. “A Real-time Algorithm for Mobile Robot Mapping Based on Rotation invariant Descriptors and ICP”. In: Proc. of 5th Analysis of Images, Social Networks and Texts. Springer. Communications in Computer and Information Science, Vol. 661, 2017, pp. 357- 369.
- Tam G., Cheng Z.-Q., Lai Y.-K., Langbein F., Liu Y., Marshall D., Martin R., Sun X.-F. and Rosin P. “Registration of 3D point clouds and meshes: A survey from rigid to nonrigid”. IEEE Trans. Vis. Comput. Graph., 2013, 19(7): 1199–1217.
- Picos K., Diaz-Ramirez V.-H., Kober V., Montemayor A.-S. and Pantrigo J.-J. “Accurate three-dimensional pose recognition from monocular images using template matched filtering”. Optical Engeenering, 2016, 55(6): 0631-02.
- Vidal-Calleja T. A., Berger C., Solà, J. and Lacroix S. “Large scale multiple robot visual mapping with heterogeneous landmarks in semi-structured terrain”. Robotics and Autonomous Systems, 2011, 59(9): 654-674.
- Se S., Lowe D. and Little J. “Mobile robot localization and mapping with uncertainty using scaleinvariant visual landmarks”. The international Journal of robotics Research, 2002, 21(8): 735–758.
- Cheng S., Marras I. and Zafeiriou S. “Active nonrigid ICP algorithm”. In: Proc. of 11th IEEE International Conference and Workshops on Automatic Face and Gesture Recognition, 2015, pp. 1- 8.
- Makovetskii A., Voronin S., Kober V. and Tihonkih D. “An efficient point-to-plane registration algorithm for affine transformations”. In: Proc. of SPIE 10396, Applications of Digital Image Processing XL, 2017, pp. 103962J 7.
- Vokhmintsev A., Timchenko M., Melnikov A., Kozko A., Makovetskii A. “Robot path planning algorithm based on symbolic tags in dynamic environment” In: Proc. of SPIE, Applications of Digital Image Processing XL, 2017, pp. 103962E-8.