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Efficient Combinations of Rejection Strategies for Dense Point Clouds Registration

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Intelligent Robotics and Applications (ICIRA 2017)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 10463))

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Abstract

The Iterative Closest Point (ICP) algorithm has been viewed as a standard approach to registering two point clouds. In the process of point clouds registration, the eliminating incorrect point pairs has important effect on the accuracy and stability of registration. In the past two decades, numerous strategies of excluding point pairs have been developed and various combinations of them have been applied to the variants of ICP algorithm. In this paper, an efficient combination of rejection strategies is proposed. It also is compared with other heuristic combinations. As shown in our case studies, the proposed combination can realize more accurate registration without sacrificing computational efficiency.

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Acknowledgement

The authors greatly acknowledge the grant support from the Fundamental Research Funds for the Central Universities under contract number ZYGX2015J082.

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Authors and Affiliations

  1. University of Electronic Science and Technology of China, Chengdu, Sichuan, China

    Shaoan Zhao, Lin Zuo, Chang-Hua Zhang & Yu Liu

Authors
  1. Shaoan Zhao
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  2. Lin Zuo
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  3. Chang-Hua Zhang
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  4. Yu Liu
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Corresponding author

Correspondence to Yu Liu .

Editor information

Editors and Affiliations

  1. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China

    YongAn Huang

  2. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China

    Hao Wu

  3. Institute of Industrial Research, University of Portsmouth, Portsmouth, United Kingdom

    Honghai Liu

  4. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China

    Zhouping Yin

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Zhao, S., Zuo, L., Zhang, CH., Liu, Y. (2017). Efficient Combinations of Rejection Strategies for Dense Point Clouds Registration. In: Huang, Y., Wu, H., Liu, H., Yin, Z. (eds) Intelligent Robotics and Applications. ICIRA 2017. Lecture Notes in Computer Science(), vol 10463. Springer, Cham. https://doi.org/10.1007/978-3-319-65292-4_54

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  • DOI: https://doi.org/10.1007/978-3-319-65292-4_54

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-65291-7

  • Online ISBN: 978-3-319-65292-4

  • eBook Packages: Computer ScienceComputer Science (R0)

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