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Point Set Registration through Minimization of the L-2 Distance between 3D-NDT Models
Örebro University, School of Science and Technology.ORCID iD: 0000-0002-6013-4874
Örebro University, School of Science and Technology.ORCID iD: 0000-0001-8658-2985
Örebro University, School of Science and Technology.ORCID iD: 0000-0003-0217-9326
2012 (English)In: 2012 IEEE International Conference on Robotics and Automation (ICRA), IEEE conference proceedings, 2012, p. 5196-5201Conference paper, Published paper (Refereed)
Abstract [en]

Point set registration — the task of finding the best fitting alignment between two sets of point samples, is an important problem in mobile robotics. This article proposes a novel registration algorithm, based on the distance between Three- Dimensional Normal Distributions Transforms. 3D-NDT models — a sub-class of Gaussian Mixture Models with uniformly weighted, largely disjoint components, can be quickly computed from range point data. The proposed algorithm constructs 3DNDT representations of the input point sets and then formulates an objective function based on the L2 distance between the considered models. Analytic first and second order derivatives of the objective function are computed and used in a standard Newton method optimization scheme, to obtain the best-fitting transformation. The proposed algorithm is evaluated and shown to be more accurate and faster, compared to a state of the art implementation of the Iterative Closest Point and 3D-NDT Point-to-Distribution algorithms.

Place, publisher, year, edition, pages
IEEE conference proceedings, 2012. p. 5196-5201
Series
Proceedings - IEEE International Conference on Robotics and Automation, ISSN 1050-4729
National Category
Computer Vision and Robotics (Autonomous Systems)
Research subject
Information technology
Identifiers
URN: urn:nbn:se:oru:diva-22686DOI: 10.1109/ICRA.2012.6224717ISI: 000309406705035Scopus ID: 2-s2.0-84864451382ISBN: 9781467314053 (electronic)ISBN: 9781467314039 (print)OAI: oai:DiVA.org:oru-22686DiVA, id: diva2:524119
Conference
2012 IEEE International Conference on Robotics and Automation (ICRA), Saint Paul, MN, 14-18 May 2012
Note

Accepted for publication. Advance copy available at http://aass.oru.se/Research/Learning/publications/2012/Stoyanov_etal_2012-ICRA.pdf

Available from: 2012-05-07 Created: 2012-04-27 Last updated: 2018-01-12Bibliographically approved

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Stoyanov, TodorMagnusson, MartinLilienthal, Achim J.

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