Point Cloud Registration using Congruent Pyramids
- Additional Document Info
- View All
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
2014 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2014)
author list (cited authors)
Krishnan, A. K., & Saripalli, S.
complete list of authors
Krishnan, Aravindhan K||Saripalli, Srikanth