3D registration of laser range scenes by coincidence of coarse binary cubes

Abstract

Scene registration of a pair of three-dimensional (3D) range images is a 6D optimization problem usually required in mobile robotics. This problem is different from object registration, since all scan directions and depths may contain relevant data, and because farther regions are sampled with lower densities. The paper proposes an efficient scene matching method based on the concept of coarse binary cubes. An integer objective function is defined as the number of coincident cubes between both scans. This is a metric of the degree of overlap that does not employ point distances. Its value is obtained without actually using any 3D grid data structure, with a computational complexity of order O(n), where n represents the number of laser points. This objective function is optimized with a globalized version of the downhill Simplex algorithm to avoid local minima. Experimental results are presented from indoor and outdoor environments with different degrees of structuring. The effect of cube size and the number of vertices on registration performance has been analyzed. Besides, experiments show that the proposed method achieves similar accuracy as iterative closest points (ICP) and normal distribution transform (NDT), while it improves both computation time and robustness against initial misalignments.

Collapsible cubes: Removing overhangs from 3D point clouds to build local navigable elevation maps

“…All in all, the computational load of the whole process is of order O(l log(l)) that originates from sorting the list L since CBC data structures can be built in O(n) time [19].…”

“…This section reviews efficient CBC data structures [19], that will be employed in the proposed implementation of the collapsible cubes principle.…”

“…Therefore, efficient data structures and algorithms are required for 3D data processing [18]. In a previous work, we proposed efficient data structures for fast and precise pairwise point-cloud registration based on 3D coarse binary cubes (CBCs) [19].…”

Improving point-cloud accuracy from a moving platform in field operations

“…The second point cloud is registered to the first using NDT registration, which has been chosen because of its good performance with respect to accuracy and speed, compared to ICP [6,14,15].…”

Improvement of mechanical properties of fiber reinforced mortar using a linear optimization method

“…[5][6][7][8][9]. However, in materials engineering its application is very rare because of several aspects affecting the optimization processes such as lag of response between sample preparations and measurement of their properties, specific physical limitations such as nonnegative weights or ratios, etc.…”