RotICP: A Spherical-Based Distance Algorithm for Rotation Search and Point Cloud Registration
2023 IEEE International Automated Vehicle Validation Conference (IAVVC)(2023)
摘要
The Iterative Closest Point (ICP) algorithm is one of the most widely used point cloud registration methods with a well known problem of requiring a good initial guess to reach a satisfactory solution. In particular, the ICP may encounter issues with large initial differences between point clouds, especially regarding the rotation. We contribute a new iterative algorithm, named RotICP, which solves the challenging simultaneous rotation and correspondence search registration problem in a vastly more robust way than compared methods. The RotICP handles rotations in a natural manner using a proposed spherical-based distance measure which captures an intuitive notion of ‘rotational closeness’. We additionally prove a theorem that RotICP converges monotonically to a local minima and compare it with the classical ICP and one state-of-the-art registration algorithm on numerous simultaneous rotation and correspondence search registration problems including both synthetic and real-world data. The results show that RotICP not only handles large rotations significantly better than the other methods, but also converges in significantly less iterations than ICP while achieving state-of-the-art accuracy.
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关键词
rotation search,ICP,simultaneous rotation and correspondence search,registration,metric,scan-matching
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