TY - GEN
T1 - Robust Point Set Registration Based on Semantic Information
AU - Wang, Qinlong
AU - Yang, Yang
AU - Wan, Teng
AU - Du, Shaoyi
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2020/10/11
Y1 - 2020/10/11
N2 - Point cloud registration a challenging task in situations with poor initial value and scenarios with limited geometric structure. In these cases, the correct correspondence between two point clouds is unknown and difficult to establish. To cope with this problem, the semantic of partial points is introduced in this paper. Firstly, the semantic information is used to find more reasonable correspondence, i.e. semantic point pairs. Secondly, we formulate a novel objective function to integrate the matching error of semantic point pairs as guidance of registration. Thirdly, a hyperparameter is applied to balance the confidence of semantic point pairs. At last, a novel algorithm under the ICP framework is presented to optimize the rigid transformation iteratively. The evaluation of KITTI data set reveals the robustness and accuracy of our method in the complex scenes mentioned above.
AB - Point cloud registration a challenging task in situations with poor initial value and scenarios with limited geometric structure. In these cases, the correct correspondence between two point clouds is unknown and difficult to establish. To cope with this problem, the semantic of partial points is introduced in this paper. Firstly, the semantic information is used to find more reasonable correspondence, i.e. semantic point pairs. Secondly, we formulate a novel objective function to integrate the matching error of semantic point pairs as guidance of registration. Thirdly, a hyperparameter is applied to balance the confidence of semantic point pairs. At last, a novel algorithm under the ICP framework is presented to optimize the rigid transformation iteratively. The evaluation of KITTI data set reveals the robustness and accuracy of our method in the complex scenes mentioned above.
KW - hyperparameter
KW - iterative closest point
KW - point cloud registration
KW - semantic
UR - https://www.scopus.com/pages/publications/85098879957
U2 - 10.1109/SMC42975.2020.9282862
DO - 10.1109/SMC42975.2020.9282862
M3 - 会议稿件
AN - SCOPUS:85098879957
T3 - Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics
SP - 2553
EP - 2558
BT - 2020 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2020 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2020
Y2 - 11 October 2020 through 14 October 2020
ER -