TY - GEN
T1 - Structured down-sampling and registration method for 3D point cloud of indoor scene
AU - Yang, Yang
AU - Li, Haozhe
AU - Yang, Jing
AU - Zhong, Dexing
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/10
Y1 - 2019/10
N2 - In this paper, noted by the regular geometric structure of indoor scene, a biased down-sampling scheme is designed to automatically adjust the local sampling rate according to the local density and distribution. Our down-sampling results can effectively remain the main structure while greatly reduce the data number for the following work. Moreover, an improved Iterative Closest Point (ICP) algorithm for point clouds registration is proposed with the prior of structure information. Sampled structured data is weighted to give their contributions for registration. This leads the parameter estimation to naturally focus on aligning the structures of indoor scenes. The experimental results demonstrate the effectiveness of the proposed method on improving the registration accuracy with the same level of down-sampling data.
AB - In this paper, noted by the regular geometric structure of indoor scene, a biased down-sampling scheme is designed to automatically adjust the local sampling rate according to the local density and distribution. Our down-sampling results can effectively remain the main structure while greatly reduce the data number for the following work. Moreover, an improved Iterative Closest Point (ICP) algorithm for point clouds registration is proposed with the prior of structure information. Sampled structured data is weighted to give their contributions for registration. This leads the parameter estimation to naturally focus on aligning the structures of indoor scenes. The experimental results demonstrate the effectiveness of the proposed method on improving the registration accuracy with the same level of down-sampling data.
UR - https://www.scopus.com/pages/publications/85076746360
U2 - 10.1109/SMC.2019.8914420
DO - 10.1109/SMC.2019.8914420
M3 - 会议稿件
AN - SCOPUS:85076746360
T3 - Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics
SP - 1596
EP - 1601
BT - 2019 IEEE International Conference on Systems, Man and Cybernetics, SMC 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 IEEE International Conference on Systems, Man and Cybernetics, SMC 2019
Y2 - 6 October 2019 through 9 October 2019
ER -