Point cloud registration using congruent pyramids

Aravindhan K. Krishnan, Srikanth Saripalli

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Scopus citations

Abstract

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.

Original languageEnglish (US)
Title of host publicationIROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1812-1817
Number of pages6
ISBN (Electronic)9781479969340
DOIs
StatePublished - Oct 31 2014
Event2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014 - Chicago, United States
Duration: Sep 14 2014Sep 18 2014

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Other

Other2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014
CountryUnited States
CityChicago
Period9/14/149/18/14

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Cite this

Krishnan, A. K., & Saripalli, S. (2014). Point cloud registration using congruent pyramids. In IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 1812-1817). [6942800] (IEEE International Conference on Intelligent Robots and Systems). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2014.6942800