Differential Information Aided 3-D Registration for Accurate Navigation and Scene Reconstruction

Jin Wu; Shuyang Zhang; Yilong Zhu; Ruoyu Geng; Zhongtao Fu; Fulong Ma; Ming Liu

ICRA 2021poster2 citations

Differential Information Aided 3-D Registration for Accurate Navigation and Scene Reconstruction

Jin Wu, Shuyang Zhang, Yilong Zhu, Ruoyu Geng, Zhongtao Fu, Fulong Ma, Ming Liu

Abstract

A novel 3-dimensional (3-D) alignment method for point-cloud registration is proposed where the time-differential information of the measured points is employed. The new problem turns out to be a novel multi-dimensional optimization. Analytical solution to this optimization is then obtained, which sets the ground of further correspondence matching using k-D trees. Finally, via many examples, we show that the new method owns better registration accuracy in real-world experiments.

BibTeX

@inproceedings{icra2021_differentialinfo,
  title = {Differential Information Aided 3-D Registration for Accurate Navigation and Scene Reconstruction},
  author = {Jin Wu and Shuyang Zhang and Yilong Zhu and Ruoyu Geng and Zhongtao Fu and Fulong Ma and Ming Liu},
  booktitle = {ICRA 2021},
  year = {2021}
}