Enhanced ICP for the registration of large-scale 3D environment models: An experimental study

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	Enhanced ICP for the registration of large-scale 3D environment models: An experimental study
	Han JD(韩建达); Yin P(殷鹏); He YQ(何玉庆); Gu F(谷丰)
刊名	Sensors (Switzerland)
	2016
卷号	16 期号:2 页码:1-15
关键词	3D model registration multiple heterogeneous mobile robots enhanced ICP
ISSN号	1424-8220
通讯作者	殷鹏 ; 何玉庆
产权排序	1
中文摘要	One of the main applications of mobile robots is the large-scale perception of the outdoor environment. One of the main challenges of this application is fusing environmental data obtained by multiple robots, especially heterogeneous robots. This paper proposes an enhanced iterative closest point (ICP) method for the fast and accurate registration of 3D environmental models. First, a hierarchical searching scheme is combined with the octree-based ICP algorithm. Second, an early-warning mechanism is used to perceive the local minimum problem. Third, a heuristic escape scheme based on sampled potential transformation vectors is used to avoid local minima and achieve optimal registration. Experiments involving one unmanned aerial vehicle and one unmanned surface vehicle were conducted to verify the proposed technique. The experimental results were compared with those of normal ICP registration algorithms to demonstrate the superior performance of the proposed method.
WOS标题词	Science & Technology ; Physical Sciences ; Technology
类目[WOS]	Chemistry, Analytical ; Electrochemistry ; Instruments & Instrumentation
研究领域[WOS]	Chemistry ; Electrochemistry ; Instruments & Instrumentation
关键词[WOS]	SPIN IMAGE
收录类别	SCI ; EI
语种	英语
WOS记录号	WOS:000371787800098
内容类型	期刊论文
源URL	[http://ir.sia.cn/handle/173321/17711]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Han JD,Yin P,He YQ,et al. Enhanced ICP for the registration of large-scale 3D environment models: An experimental study[J]. Sensors (Switzerland),2016,16(2):1-15.
APA	Han JD,Yin P,He YQ,&Gu F.(2016).Enhanced ICP for the registration of large-scale 3D environment models: An experimental study.Sensors (Switzerland),16(2),1-15.
MLA	Han JD,et al."Enhanced ICP for the registration of large-scale 3D environment models: An experimental study".Sensors (Switzerland) 16.2(2016):1-15.