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A New Spin-Image Based 3D Map Registration Algorithm Using Low-Dimensional Feature Space
Mei YG(梅元刚); He YQ(何玉庆)
作者部门机器人学研究室
会议名称2013 IEEE International Conference on Information and Automation
会议日期August 26-28, 2013
会议地点Yinchuan, China
会议录名称Proceeding of the IEEE International Conference on Information and Automation
出版者IEEE
出版地NEW YORK
2013
页码545-551
收录类别EI ; CPCI(ISTP)
EI收录号20140917372516
WOS记录号WOS:000346483800099
产权排序1
ISBN号978-1-4977-1334-3
关键词Point Cloud Map Registration Spin Image K-d Tree Features Description
摘要Spin image is a good feature descriptor of the 3D surface, thus it has been extensively used in many applications such as SLAM of mobile robot and cooperation of heterogeneous robots. However, due to the huge computational burden, it is difficult to be used in real time applications. Thus, in order to improve the efficiency and accuracy of spin image based point clouds registration algorithm, a fast registration algorithm is proposed in this paper based on low-dimensional feature space composed of curvature, the Tsallis entropy of the spin image and laser reflection intensity. The main contribution of this paper is that through constructing the low dimensional feature space, the correspondence searching procedure can be divided into two steps: firstly, select similar key points in the proposed low dimensional feature space using k-d tree; then spin image feature is used to search for correspondences among a very limited amount of point candidates. Finally, experiments with respect to a man made surroundings are conducted and the results show the feasibility and validity of the new proposed algorithm.
语种英语
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被引频次:1[WOS]   [WOS记录]     [WOS相关记录]
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/13895
专题机器人学研究室
通讯作者Mei YG(梅元刚)
作者单位1.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, Liaoning Province, 110016, China
2.University of Chinese Academy of Sciences, Beijing, 100049, China
3.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, Liaoning Province, 110016, China
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Mei YG,He YQ. A New Spin-Image Based 3D Map Registration Algorithm Using Low-Dimensional Feature Space[C]. NEW YORK:IEEE,2013:545-551.
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