A novel statistical method for 3D range data registration
based on Lie group framework

Yaxin Peng; Wei Lin; Chaomin Shen; Shihui Ying

doi:10.1117/12.977288

9 November 2012 A novel statistical method for 3D range data registration based on Lie group framework

Yaxin Peng, Wei Lin, Chaomin Shen, Shihui Ying

Proceedings Volume 8527, Multispectral, Hyperspectral, and Ultraspectral Remote Sensing Technology, Techniques and Applications IV; 85270G (2012) https://doi.org/10.1117/12.977288
Event: SPIE Asia-Pacific Remote Sensing, 2012, Kyoto, Japan

Abstract

Registration of 3D range data is to find the transformation that best maps one data set to the other. In this paper, Lie group parametric representation is combined with the Expectation Maximization (EM) method to provide a unified framework. First, having a transformation fixed, the EM algorithm is introduced to find the correspondence between two data sets through correspondence probability, which covers the relationship of all points, instead of using exact correspondence such as the classical Iterative Closest Point (ICP) method. With this type of ststistical correspondence, we could deal with the presence of the degradations such as outliers and incomplete point sets. Second, having the updated correspondence fixed, and introducing Lie group parametric representation, the transformation is updated by minimizing a quadratic programming. Then, an alternative iterative strategy by the above two steps is used to approximate the desired correspondence and transformation. The comparative experiment between our Lie-EM-ICP algorithm and Lie-ICP algorithm using point cloud is presented. Our algorithm is demonstrated to be accurate and robust, especially in the presence of incomplete point sets and outliers.

Citation Download Citation

Yaxin Peng, Wei Lin, Chaomin Shen, and Shihui Ying "A novel statistical method for 3D range data registration based on Lie group framework", Proc. SPIE 8527, Multispectral, Hyperspectral, and Ultraspectral Remote Sensing Technology, Techniques and Applications IV, 85270G (9 November 2012); https://doi.org/10.1117/12.977288

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available