Precise Point Set Registration with Color Assisted and Correntropy for 3D Reconstruction

Teng Wan; Shaoyi Du; Yiting Xu; Guanglin Xu; Yang Yang; Yue Gao; Badong Chen

doi:10.1109/SMC.2018.00673

Precise Point Set Registration with Color Assisted and Correntropy for 3D Reconstruction

Teng Wan
, Shaoyi Du
, Yiting Xu
, Guanglin Xu
, Yang Yang
, Yue Gao
, Badong Chen

Xi'an Jiaotong University
Tsinghua University

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

3 引用（Scopus）

摘要

Iterative closest point (ICP) algorithm, as its accuracy and efficiency, is widely used in rigid registration. However, ICP algorithm is easily failed when point sets lack of structure variety, such as semicircles. To solve this problem, a precise point set registration method for RGB-D data is proposed. Firstly, the color information provides a new information for registration, and the correntropy is introduced to deal with the noises and outliers. With color assisted and correntropy, a more robust objective function is built. Secondly, a variant ICP algorithm is used to deal with optimization problem via multiple iterations. Finally, as shown in the experimental results and scene reconstruction, our method obtains more precise results than other ICP algorithms.

源语言	英语
主期刊名	Proceedings - 2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018
出版商	Institute of Electrical and Electronics Engineers Inc.
页	3970-3974
页数	5
ISBN（电子版）	9781538666500
DOI	https://doi.org/10.1109/SMC.2018.00673
出版状态	已出版 - 2 7月 2018
活动	2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018 - Miyazaki, 日本期限: 7 10月 2018 → 10 10月 2018

出版系列

姓名	Proceedings - 2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018

会议

会议	2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018
国家/地区	日本
市	Miyazaki
时期	7/10/18 → 10/10/18

联合国可持续发展目标

此成果有助于实现下列可持续发展目标：

可持续发展目标 3 良好健康与福祉

访问文件

10.1109/SMC.2018.00673

其它文件与链接

链接到 Scopus 的出版物

引用此

Wan, T., Du, S., Xu, Y., Xu, G., Yang, Y., Gao, Y., & Chen, B. (2018). Precise Point Set Registration with Color Assisted and Correntropy for 3D Reconstruction. 在 Proceedings - 2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018 (页码 3970-3974). 文章 8616670 (Proceedings - 2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SMC.2018.00673

Wan, Teng ; Du, Shaoyi ; Xu, Yiting 等. / Precise Point Set Registration with Color Assisted and Correntropy for 3D Reconstruction. Proceedings - 2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018. Institute of Electrical and Electronics Engineers Inc., 2018. 页码 3970-3974 (Proceedings - 2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018).

@inproceedings{63f2b8c97e374c29ac607c256f6c727f,

title = "Precise Point Set Registration with Color Assisted and Correntropy for 3D Reconstruction",

abstract = "Iterative closest point (ICP) algorithm, as its accuracy and efficiency, is widely used in rigid registration. However, ICP algorithm is easily failed when point sets lack of structure variety, such as semicircles. To solve this problem, a precise point set registration method for RGB-D data is proposed. Firstly, the color information provides a new information for registration, and the correntropy is introduced to deal with the noises and outliers. With color assisted and correntropy, a more robust objective function is built. Secondly, a variant ICP algorithm is used to deal with optimization problem via multiple iterations. Finally, as shown in the experimental results and scene reconstruction, our method obtains more precise results than other ICP algorithms.",

keywords = "RGB-D point registration, color assisted, iterative closest point, maximum correntropy criterion set",

author = "Teng Wan and Shaoyi Du and Yiting Xu and Guanglin Xu and Yang Yang and Yue Gao and Badong Chen",

note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018 ; Conference date: 07-10-2018 Through 10-10-2018",

year = "2018",

month = jul,

day = "2",

doi = "10.1109/SMC.2018.00673",

language = "英语",

series = "Proceedings - 2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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booktitle = "Proceedings - 2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018",

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Wan, T, Du, S, Xu, Y, Xu, G, Yang, Y, Gao, Y & Chen, B 2018, Precise Point Set Registration with Color Assisted and Correntropy for 3D Reconstruction. 在 Proceedings - 2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018., 8616670, Proceedings - 2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018, Institute of Electrical and Electronics Engineers Inc., 页码 3970-3974, 2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018, Miyazaki, 日本, 7/10/18. https://doi.org/10.1109/SMC.2018.00673

Precise Point Set Registration with Color Assisted and Correntropy for 3D Reconstruction. / Wan, Teng; Du, Shaoyi; Xu, Yiting 等.
Proceedings - 2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018. Institute of Electrical and Electronics Engineers Inc., 2018. 页码 3970-3974 8616670 (Proceedings - 2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018).

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

TY - GEN

T1 - Precise Point Set Registration with Color Assisted and Correntropy for 3D Reconstruction

AU - Wan, Teng

AU - Du, Shaoyi

AU - Xu, Yiting

AU - Xu, Guanglin

AU - Yang, Yang

AU - Gao, Yue

AU - Chen, Badong

PY - 2018/7/2

Y1 - 2018/7/2

N2 - Iterative closest point (ICP) algorithm, as its accuracy and efficiency, is widely used in rigid registration. However, ICP algorithm is easily failed when point sets lack of structure variety, such as semicircles. To solve this problem, a precise point set registration method for RGB-D data is proposed. Firstly, the color information provides a new information for registration, and the correntropy is introduced to deal with the noises and outliers. With color assisted and correntropy, a more robust objective function is built. Secondly, a variant ICP algorithm is used to deal with optimization problem via multiple iterations. Finally, as shown in the experimental results and scene reconstruction, our method obtains more precise results than other ICP algorithms.

AB - Iterative closest point (ICP) algorithm, as its accuracy and efficiency, is widely used in rigid registration. However, ICP algorithm is easily failed when point sets lack of structure variety, such as semicircles. To solve this problem, a precise point set registration method for RGB-D data is proposed. Firstly, the color information provides a new information for registration, and the correntropy is introduced to deal with the noises and outliers. With color assisted and correntropy, a more robust objective function is built. Secondly, a variant ICP algorithm is used to deal with optimization problem via multiple iterations. Finally, as shown in the experimental results and scene reconstruction, our method obtains more precise results than other ICP algorithms.

KW - RGB-D point registration

KW - color assisted

KW - iterative closest point

KW - maximum correntropy criterion set

UR - https://www.scopus.com/pages/publications/85062240642

U2 - 10.1109/SMC.2018.00673

DO - 10.1109/SMC.2018.00673

M3 - 会议稿件

AN - SCOPUS:85062240642

T3 - Proceedings - 2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018

SP - 3970

EP - 3974

BT - Proceedings - 2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018

Y2 - 7 October 2018 through 10 October 2018

ER -

Wan T, Du S, Xu Y, Xu G, Yang Y, Gao Y 等. Precise Point Set Registration with Color Assisted and Correntropy for 3D Reconstruction. 在 Proceedings - 2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018. Institute of Electrical and Electronics Engineers Inc. 2018. 页码 3970-3974. 8616670. (Proceedings - 2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018). doi: 10.1109/SMC.2018.00673

Precise Point Set Registration with Color Assisted and Correntropy for 3D Reconstruction

摘要

出版系列

会议

联合国可持续发展目标

访问文件

其它文件与链接

学术指纹

引用此