A novel 3D registration algorithm using parallel-light association

This paper presents a novel method for free-form registration of multiple point clouds. The method adopts a parallel-light data association design inspired from torchlight structure which improves the correctness of point correspondence. When two sets of point clouds are placed together, assume a se...

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Main Authors: Wang, Han, Ying, Ying
Other Authors: School of Electrical and Electronic Engineering
Format: Conference or Workshop Item
Language:English
Published: 2013
Subjects:
Online Access:https://hdl.handle.net/10356/106337
http://hdl.handle.net/10220/17962
http://dx.doi.org/10.1007/978-3-642-33926-4_29
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Institution: Nanyang Technological University
Language: English
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spelling sg-ntu-dr.10356-1063372019-12-06T22:09:23Z A novel 3D registration algorithm using parallel-light association Wang, Han Ying, Ying School of Electrical and Electronic Engineering International Conference IAS (12th : 2012 : Jeju Island, Korea) DRNTU::Engineering::Electrical and electronic engineering This paper presents a novel method for free-form registration of multiple point clouds. The method adopts a parallel-light data association design inspired from torchlight structure which improves the correctness of point correspondence. When two sets of point clouds are placed together, assume a set of parallel light beams are passing through them. Each light beam will pass the point clouds twice, one on each data set. The Euclidean distance on each light beam between the two sets are taken as measurement of the separation. The fitness is the reciprocal of the mean distance of all light beams. When the two sets are optimally aligned, the fitness is maximized. Hence, the registration problem is reduced to a six degree of freedom search. Preprocessing and acceleration modules such as Genetic Algorithm (GA) are introduced to reduce the exploration space and execution time. Unlike the Iterative Closest Point (ICP) algorithm, the proposed algorithm does not require pre-alignment information. Secondly, ICP does not perform well when the overlapped area between two sets are not sufficiently large. And the proposed algorithm does not suffer from this partial overlapping problem. Based on various experiments with real data, the proposed method has superior performance compared to ICP. 2013-12-02T07:01:55Z 2019-12-06T22:09:23Z 2013-12-02T07:01:55Z 2019-12-06T22:09:23Z 2013 2013 Conference Paper Wang, H., & Ying, Y. (2013). A novel 3D registration algorithm using parallel-light association. 12th International Conference IAS-12, 193, 311-319. https://hdl.handle.net/10356/106337 http://hdl.handle.net/10220/17962 http://dx.doi.org/10.1007/978-3-642-33926-4_29 en
institution Nanyang Technological University
building NTU Library
country Singapore
collection DR-NTU
language English
topic DRNTU::Engineering::Electrical and electronic engineering
spellingShingle DRNTU::Engineering::Electrical and electronic engineering
Wang, Han
Ying, Ying
A novel 3D registration algorithm using parallel-light association
description This paper presents a novel method for free-form registration of multiple point clouds. The method adopts a parallel-light data association design inspired from torchlight structure which improves the correctness of point correspondence. When two sets of point clouds are placed together, assume a set of parallel light beams are passing through them. Each light beam will pass the point clouds twice, one on each data set. The Euclidean distance on each light beam between the two sets are taken as measurement of the separation. The fitness is the reciprocal of the mean distance of all light beams. When the two sets are optimally aligned, the fitness is maximized. Hence, the registration problem is reduced to a six degree of freedom search. Preprocessing and acceleration modules such as Genetic Algorithm (GA) are introduced to reduce the exploration space and execution time. Unlike the Iterative Closest Point (ICP) algorithm, the proposed algorithm does not require pre-alignment information. Secondly, ICP does not perform well when the overlapped area between two sets are not sufficiently large. And the proposed algorithm does not suffer from this partial overlapping problem. Based on various experiments with real data, the proposed method has superior performance compared to ICP.
author2 School of Electrical and Electronic Engineering
author_facet School of Electrical and Electronic Engineering
Wang, Han
Ying, Ying
format Conference or Workshop Item
author Wang, Han
Ying, Ying
author_sort Wang, Han
title A novel 3D registration algorithm using parallel-light association
title_short A novel 3D registration algorithm using parallel-light association
title_full A novel 3D registration algorithm using parallel-light association
title_fullStr A novel 3D registration algorithm using parallel-light association
title_full_unstemmed A novel 3D registration algorithm using parallel-light association
title_sort novel 3d registration algorithm using parallel-light association
publishDate 2013
url https://hdl.handle.net/10356/106337
http://hdl.handle.net/10220/17962
http://dx.doi.org/10.1007/978-3-642-33926-4_29
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