Efficient rotation estimation for 3D registration and global localization in structured point clouds

doi:10.1016/j.imavis.2017.09.003

	Efficient rotation estimation for 3D registration and global localization in structured point clouds
	Ma, Yanxin 1; Guo, Yulan 1,3; Lei, Yinjie 2; Lu, Min 1; Zhang, Jun 1
	2017-11-01
发表期刊	IMAGE AND VISION COMPUTING
ISSN	0262-8856
卷号	67 页码:52-66
摘要	Fully automatic 3D point cloud registration for structured scenes is a highly challenging task. In this paper, an efficient rotation estimation algorithm is proposed for point clouds of structured scenes. This algorithm fully employs the geometric information of structured environment. For rotation estimation, a direction angle is defined for a point cloud and then the rotation matrix is obtained by comparing the difference between the distributions of angles. The proposed rotation estimation algorithm is used for both 3D registration and global localization. To conduct a full 3D registration, the translation parameters are estimated by aligning the centers of the corresponding points while the rotation parameters are estimated by the proposed algorithm. For global localization, a translation estimation algorithm is proposed using projection information. The point clouds are projected onto the orthogonal plane and template matching is performed on the projection images to calculate the translation vector. Experiments have been conducted on two datasets. Experimental results demonstrate that the proposed algorithm outperforms the state-of-the-art approaches in terms of both accuracy, computational efficiency and robustness. (C) 2017 Elsevier B.V. All rights reserved.
关键词	Structured point clouds Small overlaps Registration Global localization ICP Direction angle
DOI	10.1016/j.imavis.2017.09.003
收录类别	SCI
语种	英语
资助项目	National Natural Science Foundation of China[61602499] ; National Natural Science Foundation of China[61601488] ; National Natural Science Foundation of China[61471371] ; National Natural Science Foundation of China[61403265] ; National Postdoctoral Program for Innovative Talents[BX201600172] ; Science and Technology Plan of Sichuan Province[2015SZ0226]
WOS研究方向	Computer Science ; Engineering ; Optics
WOS类目	Computer Science, Artificial Intelligence ; Computer Science, Software Engineering ; Computer Science, Theory & Methods ; Engineering, Electrical & Electronic ; Optics
WOS记录号	WOS:000414883800005
出版者	ELSEVIER SCIENCE BV
引用统计	被引频次：10[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://119.78.100.204/handle/2XEOYT63/6509
专题	中国科学院计算技术研究所期刊论文_英文
通讯作者	Guo, Yulan
作者单位	1.Natl Univ Def Technol, Coll Elect Sci & Engn, Changsha, Hunan, Peoples R China 2.Sichuan Univ, Coll Elect & Informat Engn, Chengdu, Sichuan, Peoples R China 3.Chinese Acad Sci, Inst Comp Technol, Beijing, Peoples R China
推荐引用方式 GB/T 7714	Ma, Yanxin,Guo, Yulan,Lei, Yinjie,et al. Efficient rotation estimation for 3D registration and global localization in structured point clouds[J]. IMAGE AND VISION COMPUTING,2017,67:52-66.
APA	Ma, Yanxin,Guo, Yulan,Lei, Yinjie,Lu, Min,&Zhang, Jun.(2017).Efficient rotation estimation for 3D registration and global localization in structured point clouds.IMAGE AND VISION COMPUTING,67,52-66.
MLA	Ma, Yanxin,et al."Efficient rotation estimation for 3D registration and global localization in structured point clouds".IMAGE AND VISION COMPUTING 67(2017):52-66.