Hierarchical Optimization of 3D Point Cloud Registration

Hierarchical Optimization of 3D Point Cloud Registration

Rigid registration of 3D point clouds is the key technology in robotics and computer vision. Most commonly, the iterative closest point (ICP) and its variants are employed for this task. These methods assume that the closest point is the corresponding point and lead to sensitivity to the outlier and...

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Bibliographic Details
Main Authors: Huikai Liu, Yue Zhang, Linjian Lei, Hui Xie, Yan Li, Shengli Sun
Format: Article
Language:English
Published: MDPI AG 2020-12-01
Series:Sensors
Subjects:
3D point cloud registration
improved voxel filter
multi-scale voxelized GICP
Online Access:https://www.mdpi.com/1424-8220/20/23/6999

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