Differential Information Aided 3-D Registration for Accurate Navigation and Scene Reconstruction

Jin Wu; Shuyang Zhang; Yilong Zhu; Ruoyu Geng; Zhongtao Fu; Fulong Ma; Ming Liu

doi:10.1109/ICRA48506.2021.9560754

Differential Information Aided 3-D Registration for Accurate Navigation and Scene Reconstruction

Jin Wu
, Shuyang Zhang
, Yilong Zhu
, Ruoyu Geng
, Zhongtao Fu
, Fulong Ma
, Ming Liu

Department of Computer Science and Engineering

Research output: Chapter in Book/Conference Proceeding/Report › Conference Paper published in a book › peer-review

2 Citations (Scopus)

Abstract

A novel 3-dimensional (3-D) alignment method for point-cloud registration is proposed where the time-differential information of the measured points is employed. The new problem turns out to be a novel multi-dimensional optimization. Analytical solution to this optimization is then obtained, which sets the ground of further correspondence matching using k-D trees. Finally, via many examples, we show that the new method owns better registration accuracy in real-world experiments.

Original language	English
Title of host publication	2021 IEEE International Conference on Robotics and Automation, ICRA 2021
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	9249-9254
Number of pages	6
ISBN (Electronic)	9781728190778
DOIs	https://doi.org/10.1109/ICRA48506.2021.9560754
Publication status	Published - 2021
Event	2021 IEEE International Conference on Robotics and Automation, ICRA 2021 - Xi'an, China Duration: 30 May 2021 → 5 Jun 2021

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
Volume	2021-May
ISSN (Print)	1050-4729

Conference

Conference	2021 IEEE International Conference on Robotics and Automation, ICRA 2021
Country/Territory	China
City	Xi'an
Period	30/05/21 → 5/06/21

Bibliographical note

Publisher Copyright:
© 2021 IEEE

Access to Document

10.1109/ICRA48506.2021.9560754

Cite this

Wu, J., Zhang, S., Zhu, Y., Geng, R., Fu, Z., Ma, F., & Liu, M. (2021). Differential Information Aided 3-D Registration for Accurate Navigation and Scene Reconstruction. In 2021 IEEE International Conference on Robotics and Automation, ICRA 2021 (pp. 9249-9254). (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2021-May). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA48506.2021.9560754

@inproceedings{323dbab8043d4c02a8265e49c5dbd4e6,

title = "Differential Information Aided 3-D Registration for Accurate Navigation and Scene Reconstruction",

abstract = "A novel 3-dimensional (3-D) alignment method for point-cloud registration is proposed where the time-differential information of the measured points is employed. The new problem turns out to be a novel multi-dimensional optimization. Analytical solution to this optimization is then obtained, which sets the ground of further correspondence matching using k-D trees. Finally, via many examples, we show that the new method owns better registration accuracy in real-world experiments.",

author = "Jin Wu and Shuyang Zhang and Yilong Zhu and Ruoyu Geng and Zhongtao Fu and Fulong Ma and Ming Liu",

note = "Publisher Copyright: {\textcopyright} 2021 IEEE; 2021 IEEE International Conference on Robotics and Automation, ICRA 2021 ; Conference date: 30-05-2021 Through 05-06-2021",

year = "2021",

doi = "10.1109/ICRA48506.2021.9560754",

language = "English",

series = "Proceedings - IEEE International Conference on Robotics and Automation",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "9249--9254",

booktitle = "2021 IEEE International Conference on Robotics and Automation, ICRA 2021",

}

Wu, J, Zhang, S, Zhu, Y, Geng, R, Fu, Z, Ma, F & Liu, M 2021, Differential Information Aided 3-D Registration for Accurate Navigation and Scene Reconstruction. in 2021 IEEE International Conference on Robotics and Automation, ICRA 2021. Proceedings - IEEE International Conference on Robotics and Automation, vol. 2021-May, Institute of Electrical and Electronics Engineers Inc., pp. 9249-9254, 2021 IEEE International Conference on Robotics and Automation, ICRA 2021, Xi'an, China, 30/05/21. https://doi.org/10.1109/ICRA48506.2021.9560754

Differential Information Aided 3-D Registration for Accurate Navigation and Scene Reconstruction. / Wu, Jin; Zhang, Shuyang; Zhu, Yilong et al.
2021 IEEE International Conference on Robotics and Automation, ICRA 2021. Institute of Electrical and Electronics Engineers Inc., 2021. p. 9249-9254 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2021-May).

Research output: Chapter in Book/Conference Proceeding/Report › Conference Paper published in a book › peer-review

TY - GEN

T1 - Differential Information Aided 3-D Registration for Accurate Navigation and Scene Reconstruction

AU - Wu, Jin

AU - Zhang, Shuyang

AU - Zhu, Yilong

AU - Geng, Ruoyu

AU - Fu, Zhongtao

AU - Ma, Fulong

AU - Liu, Ming

PY - 2021

Y1 - 2021

N2 - A novel 3-dimensional (3-D) alignment method for point-cloud registration is proposed where the time-differential information of the measured points is employed. The new problem turns out to be a novel multi-dimensional optimization. Analytical solution to this optimization is then obtained, which sets the ground of further correspondence matching using k-D trees. Finally, via many examples, we show that the new method owns better registration accuracy in real-world experiments.

AB - A novel 3-dimensional (3-D) alignment method for point-cloud registration is proposed where the time-differential information of the measured points is employed. The new problem turns out to be a novel multi-dimensional optimization. Analytical solution to this optimization is then obtained, which sets the ground of further correspondence matching using k-D trees. Finally, via many examples, we show that the new method owns better registration accuracy in real-world experiments.

UR - https://www.scopus.com/pages/publications/85125503035

U2 - 10.1109/ICRA48506.2021.9560754

DO - 10.1109/ICRA48506.2021.9560754

M3 - Conference Paper published in a book

AN - SCOPUS:85125503035

T3 - Proceedings - IEEE International Conference on Robotics and Automation

SP - 9249

EP - 9254

BT - 2021 IEEE International Conference on Robotics and Automation, ICRA 2021

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2021 IEEE International Conference on Robotics and Automation, ICRA 2021

Y2 - 30 May 2021 through 5 June 2021

ER -

Wu J, Zhang S, Zhu Y, Geng R, Fu Z, Ma F et al. Differential Information Aided 3-D Registration for Accurate Navigation and Scene Reconstruction. In 2021 IEEE International Conference on Robotics and Automation, ICRA 2021. Institute of Electrical and Electronics Engineers Inc. 2021. p. 9249-9254. (Proceedings - IEEE International Conference on Robotics and Automation). doi: 10.1109/ICRA48506.2021.9560754

Differential Information Aided 3-D Registration for Accurate Navigation and Scene Reconstruction

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