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Multi-relation Octomap Based Heuristic ICP for Air/Surface robots Cooperation
Yin P(殷鹏); He YQ(何玉庆); Gu F(谷丰); Han JD(韩建达)
Department机器人学研究室
Conference Name2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015
Conference DateDecember 6-9, 2015
Conference PlaceZhuhai, China
Source PublicationProceedings of the 2015 IEEE International Conference on Robotics and Biomimetics
PublisherIEEE
Publication PlacePiscataway, NJ, USA
2015
Pages1524-1529
Indexed ByEI ; CPCI(ISTP)
EI Accession number20161802327864
WOS IDWOS:000380476200254
Contribution Rank1
ISBN978-1-4673-9674-5
AbstractIn this paper, we focus on the problem of fast and accurate featureless registration of outdoor large scale 3D pointclouds which possess great differences in the aspects of both resolution and view of point. There are two main methods generally used to solve this problem: feature based algorithm and point based one. However, feature based method can only be used in very special environments with clear geometric structure, while traditional point based method can only obtain a relative coarse estimation and is sensitive to initial alignment. Thus, in this paper, a registration algorithm, called Octree Based Multiresolution Heuristic ICP, is proposed. Without relying on the good initial registration and marked features, hybrid-ICP combines different ICP algorithms, and improve the alignments using finer levels of representation. In our outdoor riverside environments experiments, our method outperform the classical point based registration algorithm with an accuracy of 7 times better than classical Generalized-ICP and a speedup 1.6 times.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/17452
Collection机器人学研究室
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China
2.University of Chinese Academy of Sciences, Beijing, 100049, China
Recommended Citation
GB/T 7714
Yin P,He YQ,Gu F,et al. Multi-relation Octomap Based Heuristic ICP for Air/Surface robots Cooperation[C]. Piscataway, NJ, USA:IEEE,2015:1524-1529.
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