Survey of Point Cloud Registration Methods and New Statistical Approach

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216275%3A25530%2F23%3A39921216" target="_blank" >RIV/00216275:25530/23:39921216 - isvavai.cz</a>

Result on the web

<a href="https://www.mdpi.com/2227-7390/11/16/3564" target="_blank" >https://www.mdpi.com/2227-7390/11/16/3564</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.3390/math11163564" target="_blank" >10.3390/math11163564</a>

Result language

angličtina

Original language name

Survey of Point Cloud Registration Methods and New Statistical Approach

Original language description

The use of a 3D range scanning device for autonomous object description or unknown environment mapping leads to the necessity of improving computer methods based on identical point pairs from different point clouds (so-called registration problem). The registration problem and three-dimensional transformation of coordinates still require further research. The paper attempts to guide the reader through the vast field of existing registration methods so that he can choose the appropriate approach for his particular problem. Furthermore, the article contains a regression method that enables the estimation of the covariance matrix of the transformation parameters and the calculation of the uncertainty of the estimated points. This makes it possible to extend existing registration methods with uncertainty estimates and to improve knowledge about the performed registration. The paper&apos;s primary purpose is to present a survey of known methods and basic estimation theory concepts for the point cloud registration problem. The focus will be on the guiding principles of the estimation theory: ICP algorithm; Normal Distribution Transform; Feature-based registration; Iterative dual correspondences; Probabilistic iterative correspondence method; Point-based registration; Quadratic patches; Likelihood-field matching; Conditional random fields; Branch-and-bound registration; PointReg. The secondary purpose of this article is to show an innovative statistical model for this transformation problem. The new theory needs known covariance matrices of identical point coordinates. An unknown rotation matrix and shift vector have been estimated using a nonlinear regression model with nonlinear constraints. The paper ends with a relevant numerical example.

Czech name

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Czech description

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Type

J_imp - Article in a specialist periodical, which is included in the Web of Science database

CEP classification

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OECD FORD branch

10200 - Computer and information sciences

Project

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Continuities

I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace

Publication year

2023

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Name of the periodical

Mathematics

ISSN

2227-7390

e-ISSN

2227-7390

Volume of the periodical

11

Issue of the periodical within the volume

16

Country of publishing house

CH - SWITZERLAND

Number of pages

20

Pages from-to

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UT code for WoS article

001056543900001

EID of the result in the Scopus database

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