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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)
作者部门机器人学研究室
会议名称2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015
会议日期December 6-9, 2015
会议地点Zhuhai, China
会议录名称Proceedings of the 2015 IEEE International Conference on Robotics and Biomimetics
出版者IEEE
出版地Piscataway, NJ, USA
2015
页码1524-1529
收录类别EI ; CPCI(ISTP)
EI收录号20161802327864
WOS记录号WOS:000380476200254
产权排序1
ISBN号978-1-4673-9674-5
摘要In 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.
语种英语
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文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/17452
专题机器人学研究室
作者单位1.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
推荐引用方式
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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