2023
DOI: 10.48550/arxiv.2303.15857
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3D Spectral Domain Registration-Based Visual Servoing

Abstract: This paper presents a spectral domain registration-based visual servoing scheme that works on 3D point clouds. Specifically, we propose a 3D model/point cloud alignment method, which works by finding a global transformation between reference and target point clouds using spectral analysis. A 3D Fast Fourier Transform (FFT) in R 3 is used for the translation estimation, and the real spherical harmonics in SO(3) are used for the rotations estimation. Such an approach allows us to derive a decoupled 6 degrees of … Show more

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