TY - GEN
T1 - Point cloud registration using congruent pyramids
AU - Krishnan, Aravindhan K.
AU - Saripalli, Srikanth
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/10/31
Y1 - 2014/10/31
N2 - We present a method to compute an initial alignment for pairwise registration of point clouds. This method uses the properties of a rigid body transformation - the ratio of lengths is preserved, the euclidean distance between points is preserved - to find congruent pyramids in two point clouds. The corresponding vertices of the congruent pyramids are used to derive a closed form solution for initial alignment. The alignment is refined further using the Iterative Closest Point algorithm. We validate the method on challenging datasets - which include airborne LIDAR, outdoor, and indoor - having initial offsets and varying densities.
AB - We present a method to compute an initial alignment for pairwise registration of point clouds. This method uses the properties of a rigid body transformation - the ratio of lengths is preserved, the euclidean distance between points is preserved - to find congruent pyramids in two point clouds. The corresponding vertices of the congruent pyramids are used to derive a closed form solution for initial alignment. The alignment is refined further using the Iterative Closest Point algorithm. We validate the method on challenging datasets - which include airborne LIDAR, outdoor, and indoor - having initial offsets and varying densities.
UR - http://www.scopus.com/inward/record.url?scp=84911465762&partnerID=8YFLogxK
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U2 - 10.1109/IROS.2014.6942800
DO - 10.1109/IROS.2014.6942800
M3 - Conference contribution
AN - SCOPUS:84911465762
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 1812
EP - 1817
BT - IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014
Y2 - 14 September 2014 through 18 September 2014
ER -