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Learning to detect misaligned point clouds
Örebro University, School of Science and Technology. (AASS MRO Lab)ORCID iD: 0000-0001-5007-548X
Örebro University, School of Science and Technology. (AASS MRO Lab)ORCID iD: 0000-0001-8658-2985
Örebro University, School of Science and Technology. (AASS MRO Lab)ORCID iD: 0000-0002-9503-0602
Örebro University, School of Science and Technology. (AASS MRO Lab)ORCID iD: 0000-0003-0217-9326
2017 (English)In: Journal of Field Robotics, ISSN 1556-4959, E-ISSN 1556-4967Article in journal (Refereed) Epub ahead of print
Abstract [en]

Matching and merging overlapping point clouds is a common procedure in many applications, including mobile robotics, three-dimensional mapping, and object visualization. However, fully automatic point-cloud matching, without manual verification, is still not possible because no matching algorithms exist today that can provide any certain methods for detecting misaligned point clouds. In this article, we make a comparative evaluation of geometric consistency methods for classifying aligned and nonaligned point-cloud pairs. We also propose a method that combines the results of the evaluated methods to further improve the classification of the point clouds. We compare a range of methods on two data sets from different environments related to mobile robotics and mapping. The results show that methods based on a Normal Distributions Transform representation of the point clouds perform best under the circumstances presented herein.

Place, publisher, year, edition, pages
John Wiley & Sons, 2017.
Keywords [en]
perception, mapping, position estimation
National Category
Computer Sciences
Research subject
Computer Science
Identifiers
URN: urn:nbn:se:oru:diva-62985DOI: 10.1002/rob.21768OAI: oai:DiVA.org:oru-62985DiVA, id: diva2:1163065
Projects
ILIADALLO
Funder
EU, Horizon 2020, 732737Knowledge Foundation, 20110214Available from: 2017-12-05 Created: 2017-12-05 Last updated: 2018-02-01Bibliographically approved

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Almqvist, HåkanMagnusson, MartinKucner, Tomasz PiotrLilienthal, Achim

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CiteExportLink to record
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Citation style
  • apa
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Output format
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