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3D point cloud registration based on a purpose-designed similarity measure

Identificadores del recurso

1687-6180

DPI2006-15313

http://hdl.handle.net/10902/3147

10.1186/1687-6180-2012-57

Procedencia

(Repositorio Abierto de la Universidad de Cantabria)

Ficha

Título:: 3D point cloud registration based on a purpose-designed similarity measure
Tema:: Laser scanner; 3D point cloud; Descriptor; Similarity measure; Coarse alignment; 3D registration
Descripción:: This article introduces a novel approach for finding a rigid transformation that coarsely aligns two 3D point clouds. The algorithm performs an iterative comparison between 2D descriptors by using a purpose-designed similarity measure in order to find correspondences between two 3D point clouds sensed from different positions of a free-form object. The descriptors (named with the acronym CIRCON) represent an ordered set of radial contours that are extracted around an interest-point within the point cloud. The search for correspondences is done iteratively, following a cell distribution that allows the algorithm to converge toward a candidate point. Using a single correspondence an initial estimation of the Euclidean transformation is computed and later refined by means of a multiresolution approach. This coarse alignment algorithm can be used for 3D modeling and object manipulation tasks such as "Bin Picking" when free-form objects are partially occluded or present symmetries.; This study was carried out with the support of the Spanish CICYT project DPI2006-15313
Fuente:: EURASIP Journal on Advances in Signal Processing, 2012, 57
Idioma:: English
Autor/Productor:: Torre Ferrero, Carlos; Llata García, José Ramón; Alonso Rentería, Luciano; Robla Gómez, María Sandra; González Sarabia, Esther
Editor:: Hindawi Publishing Corporation-; SpringerOpen
Otros colaboradores/productores:: Universidad de Cantabria
Derechos:: Atribución 3.0 España; http://creativecommons.org/licenses/by/3.0/es/; openAccess
Fecha:: 2013-09-06T12:58:45Z; 2012
Tipo de recurso:: info:eu-repo/semantics/article; publishedVersion

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1. <dc:title>3D point cloud registration based on a purpose-designed similarity measure</dc:title>
2. <dc:creator>Torre Ferrero, Carlos</dc:creator>
3. <dc:creator>Llata García, José Ramón</dc:creator>
4. <dc:creator>Alonso Rentería, Luciano</dc:creator>
5. <dc:creator>Robla Gómez, María Sandra</dc:creator>
6. <dc:creator>González Sarabia, Esther</dc:creator>
7. <dc:contributor>Universidad de Cantabria</dc:contributor>
8. <dc:subject>Laser scanner</dc:subject>
9. <dc:subject>3D point cloud</dc:subject>
10. <dc:subject>Descriptor</dc:subject>
11. <dc:subject>Similarity measure</dc:subject>
12. <dc:subject>Coarse alignment</dc:subject>
13. <dc:subject>3D registration</dc:subject>
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  4. <dc:creator>Alonso Rentería, Luciano</dc:creator>
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