Registration of Lines in 2D LIDAR Scans via Functions of Angles

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F61989100%3A27240%2F16%3A86100508" target="_blank" >RIV/61989100:27240/16:86100508 - isvavai.cz</a>

Výsledek na webu

<a href="http://www.sciencedirect.com/science/article/pii/S2405896316302944" target="_blank" >http://www.sciencedirect.com/science/article/pii/S2405896316302944</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1016/j.ifacol.2016.07.098" target="_blank" >10.1016/j.ifacol.2016.07.098</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Registration of Lines in 2D LIDAR Scans via Functions of Angles

Popis výsledku v původním jazyce

Registration of LIDAR scans is an important problem in many applications that need to align two LIDAR scans optimally. This paper presents a novel algorithm for registration of LIDAR scans. The algorithm combines two already known but different concepts. The first one is the registration of lines and the second one is the registration in polar coordinates. The main idea is a new representation of the surrounding area that makes the mentioned combination possible. The algorithm works with lines, specifically with dynamic line segments in polar coordinates that are expressed as functions of angles. This representation significantly decreases the computation time and enhances the resulting alignment. The presented algorithm was designed for indoor environments that are rich in objects that can be represented by line segments. The algorithm has been tested with many indoor LIDAR scans and is able to align them with high accuracy and in real-time.

Název v anglickém jazyce

Registration of Lines in 2D LIDAR Scans via Functions of Angles

Popis výsledku anglicky

Registration of LIDAR scans is an important problem in many applications that need to align two LIDAR scans optimally. This paper presents a novel algorithm for registration of LIDAR scans. The algorithm combines two already known but different concepts. The first one is the registration of lines and the second one is the registration in polar coordinates. The main idea is a new representation of the surrounding area that makes the mentioned combination possible. The algorithm works with lines, specifically with dynamic line segments in polar coordinates that are expressed as functions of angles. This representation significantly decreases the computation time and enhances the resulting alignment. The presented algorithm was designed for indoor environments that are rich in objects that can be represented by line segments. The algorithm has been tested with many indoor LIDAR scans and is able to align them with high accuracy and in real-time.

Druh

J_x - Nezařazeno - Článek v odborném periodiku (Jimp, Jsc a Jost)

CEP obor

IN - Informatika

OECD FORD obor

—

Projekt

—

Návaznosti

S - Specificky vyzkum na vysokych skolach

Rok uplatnění

2016

Kód důvěrnosti údajů

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

Název periodika

IFAC-PapersOnLine

ISSN

2405-8963

e-ISSN

—

Svazek periodika

49

Číslo periodika v rámci svazku

5

Stát vydavatele periodika

AT - Rakouská republika

Počet stran výsledku

6

Strana od-do

109-114

Kód UT WoS článku

000381503600020

EID výsledku v databázi Scopus

2-s2.0-84991063397