A New Spin-Image Based 3D Map Registration Algorithm Using Low-Dimensional Feature Space

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	A New Spin-Image Based 3D Map Registration Algorithm Using Low-Dimensional Feature Space
	Mei YG(梅元刚); He YQ(何玉庆)
	2013
会议名称	2013 IEEE International Conference on Information and Automation
会议日期	August 26-28, 2013
会议地点	Yinchuan, China
关键词	Point cloud map registration spin image k-d tree, features description
页码	545-551
通讯作者	梅元刚
中文摘要	Spin image is a good feature descriptor of the 3D surface, thus it has been extensively used in many applications such as SLAM of mobile robot and cooperation of heterogeneous robots. However, due to the huge computational burden, it is difficult to be used in real time applications. Thus, in order to improve the efficiency and accuracy of spin image based point clouds registration algorithm, a fast registration algorithm is proposed in this paper based on low-dimensional feature space composed of curvature, the Tsallis entropy of the spin image and laser reflection intensity. The main contribution of this paper is that through constructing the low dimensional feature space, the correspondence searching procedure can be divided into two steps: firstly, select similar key points in the proposed low dimensional feature space using k-d tree; then spin image feature is used to search for correspondences among a very limited amount of point candidates. Finally, experiments with respect to a man made surroundings are conducted and the results show the feasibility and validity of the new proposed algorithm.
收录类别	EI ; CPCI（ISTP）
产权排序	1
会议录	Proceeding of the IEEE International Conference on Information and Automation
会议录出版者	IEEE
会议录出版地	NEW YORK
语种	英语
ISBN号	978-1-4977-1334-3
WOS记录号	WOS:000346483800099
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/13895]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Mei YG,He YQ. A New Spin-Image Based 3D Map Registration Algorithm Using Low-Dimensional Feature Space[C]. 见:2013 IEEE International Conference on Information and Automation. Yinchuan, China. August 26-28, 2013.