TY - GEN
T1 - Precise Point Set Registration Algorithm for Indoor Scene Reconstruction
AU - Xie, Qixing
AU - Yang, Yang
AU - Wan, Teng
AU - Cui, Wenting
AU - Liu, Yuying
AU - Wang, Botao
AU - Du, Shaoyi
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/11
Y1 - 2019/11
N2 - In this paper, we propose a precise point set registration algorithm for indoor scene reconstruction. Firstly, as for the problem that sensor samples unevenly, point-to-plane metric is introduced into our model, which effectively makes use of the surface structure information of point set and improves registration result. Secondly, to handle with noises and outliers in indoor scene, correntropy is introduced. To solve our model, we propose a variant of Iterative Closest Point (ICP) algorithm, which iteratively establishes point-to-point correspondence and calculates rigid transformation parameters. After that, the simulated experiments demonstrate the accuracy and robustness of the proposed algorithm compared with other methods. Besides, it is also used to indoor scene reconstruction and the result is satisfying.
AB - In this paper, we propose a precise point set registration algorithm for indoor scene reconstruction. Firstly, as for the problem that sensor samples unevenly, point-to-plane metric is introduced into our model, which effectively makes use of the surface structure information of point set and improves registration result. Secondly, to handle with noises and outliers in indoor scene, correntropy is introduced. To solve our model, we propose a variant of Iterative Closest Point (ICP) algorithm, which iteratively establishes point-to-point correspondence and calculates rigid transformation parameters. After that, the simulated experiments demonstrate the accuracy and robustness of the proposed algorithm compared with other methods. Besides, it is also used to indoor scene reconstruction and the result is satisfying.
KW - Iterative Closest Point
KW - correntropy
KW - indoor scene reconstruction
KW - point set registration
KW - point-to-plane metric
UR - https://www.scopus.com/pages/publications/85080052529
U2 - 10.1109/CAC48633.2019.8997195
DO - 10.1109/CAC48633.2019.8997195
M3 - 会议稿件
AN - SCOPUS:85080052529
T3 - Proceedings - 2019 Chinese Automation Congress, CAC 2019
SP - 4336
EP - 4339
BT - Proceedings - 2019 Chinese Automation Congress, CAC 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 Chinese Automation Congress, CAC 2019
Y2 - 22 November 2019 through 24 November 2019
ER -