Lines to Planes Registration

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26620%2F19%3APU131980" target="_blank" >RIV/00216305:26620/19:PU131980 - isvavai.cz</a>

Výsledek na webu

<a href="http://www.scitepress.org/DigitalLibrary/Link.aspx?doi=10.5220/0007834906250632" target="_blank" >http://www.scitepress.org/DigitalLibrary/Link.aspx?doi=10.5220/0007834906250632</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.5220/0007834906250632" target="_blank" >10.5220/0007834906250632</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Lines to Planes Registration

Popis výsledku v původním jazyce

This paper deals with the Line-Plane registration problem. First we introduce the matter of geometrical object fitting and show the specificity of the Line-Plane combination. Then the method is derived to fulfill all usual demands we put on a registration algorithm. Our algorithm works on any number of corresponding Line-Plane pairs higher than three, providing more accurate results and better convergence, as this number gets higher. Although the computation is non-linear by its nature, benefits of the least squares optimization were preserved. The algorithm is divided into linear part dependant on the amount of input data and a non-linear part, which is not, keeping efficiency in case of large data sets. All important features were experimentally tested and proved to work.

Název v anglickém jazyce

Lines to Planes Registration

Popis výsledku anglicky

This paper deals with the Line-Plane registration problem. First we introduce the matter of geometrical object fitting and show the specificity of the Line-Plane combination. Then the method is derived to fulfill all usual demands we put on a registration algorithm. Our algorithm works on any number of corresponding Line-Plane pairs higher than three, providing more accurate results and better convergence, as this number gets higher. Although the computation is non-linear by its nature, benefits of the least squares optimization were preserved. The algorithm is divided into linear part dependant on the amount of input data and a non-linear part, which is not, keeping efficiency in case of large data sets. All important features were experimentally tested and proved to work.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

20204 - Robotics and automatic control

Projekt

<a href="/cs/project/LQ1601" target="_blank" >LQ1601: CEITEC 2020</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2019

Kód důvěrnosti údajů

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

Název statě ve sborníku

Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO

ISBN

978-989-758-380-3

ISSN

—

e-ISSN

—

Počet stran výsledku

825

Strana od-do

625-632

Název nakladatele

Science and Technology Publications

Místo vydání

neuveden

Místo konání akce

Praha

Datum konání akce

29. 7. 2019

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

000571063100073