Point Cloud Registration using Congruent Pyramids Conference Paper

abstract

• 2014 IEEE. We present a method to compute an initial alignment for pairwise registration of point clouds. This method uses the properties of a rigid body transformation - the ratio of lengths is preserved, the euclidean distance between points is preserved - to find congruent pyramids in two point clouds. The corresponding vertices of the congruent pyramids are used to derive a closed form solution for initial alignment. The alignment is refined further using the Iterative Closest Point algorithm. We validate the method on challenging datasets - which include airborne LIDAR, outdoor, and indoor - having initial offsets and varying densities.

name of conference

• 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems

authors

• Saripalli, Srikanth

published proceedings

• 2014 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2014)

author list (cited authors)

• Krishnan, A. K., & Saripalli, S.

citation count

• 3

complete list of authors

• Krishnan, Aravindhan K||Saripalli, Srikanth

publication date

• January 2014

publisher

• Institute of Electrical and Electronics Engineers (IEEE)  Publisher

published in

• Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems  Journal

Digital Object Identifier (DOI)

• 10.1109/iros.2014.6942800

International Standard Book Number (ISBN) 13

• 9781479969340

start page

• 1812

end page

• 1817

URL

• http://dx.doi.org/10.1109/iros.2014.6942800