A probabilistic framework for robust and accurate matching of point clouds

Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

Volumn 3175, Issue , 2004, Pages 480-487

  Biber, Peter ^a   Fleck, Sven ^a   Strasser, Wolfgang ^a  

^a UNIVERSITY OF TÜBINGEN   (Germany)

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; MAXIMUM LIKELIHOOD; NORMAL DISTRIBUTION; ROBOTICS;

BIVARIATE NORMAL DISTRIBUTIONS; DATA POINTS; ENERGY FUNCTIONS; ICP ALGORITHMS; LOCAL STRUCTURE; POINT CLOUD; PROBABILISTIC FRAMEWORK; PROBABILITY FUNCTIONS;

PATTERN RECOGNITION;

EID: 35048894915     PISSN: 03029743     EISSN: 16113349     Source Type: Book Series    
DOI: 10.1007/978-3-540-28649-3_59     Document Type: Article

References (21)

1. P.J. Besl and N.B. McKay. A method for registration of 3d shapes. IEEE Transactions on Pattern Analysis and Machine Intelligence, 14(2):239-256, 1992.
2. P. Biber and W. Straßer. The normal distributions transform: A new approach to laser scan matching. In International Conference on Intelligent Robots and Systems (IROS), 2003.
3. M. Black and A. Rangarajan. On the unification of line processes, outlier rejection, and robust statistics with applications in early vision. IJCV, 19(1):57-92, July 1996.
4. Guillaume Champleboux, Stephane Lavallee, Richard Szeliski, and Lionel Brunie. From accurate range imaging sensor calibration to accurate model-based 3-d object localization. In CVPR'92, pages 83-89, 1992.
5. Y. Chen and G.G. Medioni. Object modeling by registration of multiple range images. Image and Vision Computing, 10(3):145-155, 1992.
6. I.J. Cox. Blanche: An experiment in guidance and navigation of an autonomous robot vehicle. IEEE Transactions on Robotics and Automation, 7(2):193-204, 1991.
7. J.E. Dennis and R. B. Schnabel. Numerical Methods for Unconstrained Optimization and Nonlinear Equations. SIAM Classics in Applied Mathematics, 1996.
8. Chitra Dorai, Juyang Weng, and Anil K. Jain. Optimal registration of object views using range data. IEEE TPAMI, 19(10):1131-1138, 1997.
9. Andrew Fitzgibbon. Robust registration of 2d and 3d point sets. In Proceedings of the British Machine Vision Conference, pages 662-670, 2001.
10. Udo Frese and Tom Duckett. A multigrid approach for accelerating relaxationbased slam. In Proc. IJCAI Workshop on Reasoning with Uncertainty in Robotics (RUR 2003), 2003.
11. Jens-Steffen Gutmann and Kurt Konolige. Incremental mapping of large cyclic environments. In Proceedings of the 1999 IEEE International Symposium on Computational Intelligence in Robotics and Automation.
12. Allan D. Jepson, David J. Fleet, and Tomas F. El-Maraghi. Robust online appearance models for visual tracking. IEEE Transactions on Pattern Analysis and Machine Learning, 25(10), October 2003.
13. F. Lu and E. Milios. Robot pose estimation in unknown environments by matching 2d range scans. In CVPR94, pages 935-938, 1994.
14. F. Lu and E.E. Milios. Globally consistent range scan alignment for environment mapping. Autonomous Robots, 4:333-349, 1997.
15. Takeshi Masuda and Naokazu Yokoya. A robust method for registration and segmentation of multiple range images. CVIU, 61(3):295-307, 1995.
16. Peter Meer, Doron Mintz, Azriel Rosenfeld, and Dong Yoon Kim. Robust regression methods for computer vision: A review. IJCV, 6(1):59-70, 1991.
17. K. Pulli. Multiview registration for large data sets. In Int. Conf. on 3D-DIM, 1999.
18. Szymon Rusinkiewicz and Marc Levoy. Efficient variants of the ICP algorithm. In Proc. of the Third Intl. Conf. on 3D-Dim, pages 145-152, 2001.
19. Charles Stewart. Robust parameter estimation in computer vision. SIAM Review, 41(3):512-537, 1999.
20. Bill Triggs, Philip McLauchlan, Richard Hartley, and Andrew Fitzgibbon. Bundle adjustment - A modern synthesis. In W. Triggs, A. Zisserman, and R. Szeliski, editors, Vision Algorithms: Theory and Practice, LNCS, pages 298-375. Springer Verlag, 2000.
21. Z. Zhang. Iterative point matching for registration of free-from curves and surfaces. International Journal of Computer Vision, 13(2):119-152, 1994.