A robust and fast method for 6DoF motion estimation from generalized 3D data

Autonomous Robots

Volumn 36, Issue 4, 2014, Pages 295-308

  Viejo, Diego ^a   Cazorla, Miguel ^a  

^a UNIVERSITY OF ALICANTE   (Spain)

Author keywords

3D mapping; 6DoF pose registration; Mobile robots; Scene modeling

Indexed keywords

EID: 84894667103     PISSN: 09295593     EISSN: None     Source Type: Journal    
DOI: 10.1007/s10514-013-9354-z     Document Type: Article

References (43)

1. Agrawal, M. (2006). A lie algebraic approach for consistent pose registration for general euclidean motion. In Proceedings of the IEEE/RSJ international conference on intelligent robots and systems (pp. 1891-1897).
2. Armesto, L.; Minguez, J.; & Montesano, L. (2010). A generalization of the metric-based iterative closest point technique for 3D scan matching. In IEEE international conference on robotics and automation, ICRA 2010, Alaska.
3. Besl, P.; & McKay, N. (1992). A method for registration of 3-D shapes. IEEE Transactions on Pattern Analysis and Machine Intelligence, 14(2), 239-256.
4. Borrmann, D.; & Nüchter, A. (2012). Thermo bremen data set. http://kos.informatik.uni-osnabrueck.de/3Dscans/
5. Borrmann, D.; Elseberg, J.; Lingemann, K.; Nüchter, A.; & Hertzberg, J. (2008). Globally consistent 3D mapping with scan matching. Robotics and Autonomous Systems, 56(2), 130-142.
6. Brunnstrom, K.; & Stoddart, A. (1996). Genetic algorithms for free-form surface matching. In: A. Stoddart (Ed.), Proceedings of the 13th international conference on pattern recognition, Vol. 4 (pp. 689-693).
7. Censi, A. (2008). An ICP variant using a point-to-line metric. In Proceedings of the IEEE international conference on robotics and automation (ICRA 2008), Pasadena, CA.
8. Chen, C. S.; Hung, Y. P.; & Cheng, J. B. (1999). RANSAC-based DARCES: A new approach to fast automatic registration of partially overlapping range images. IEEE Transactions on Pattern Analysis and Machine Intelligence, 21(11), 1229-1234.
9. Chen, Y.; & Medioni, G. (1991). Object modeling by registration of multiple range images. In: G. Medioni (Ed.), Proceedings of the IEEE international conference on robotics and automation 1991, Vol. 3 (pp. 2724-2729).
10. Chung, D.; Yun, I.; & Lee, S. (1998). Registration of multiple range views using the reverse calibration technique. Pattern Recognition, 31, 457-464.
11. Dalley, G.; & Flynn, P. (2002). Pair-wise range image registration: A study in outlier classification. Computer Vision and Image Understanding, 87(1-3), 104-115.
12. Dorai, C.; Wang, G.; Jain, A.; & Mercer, C. (1998). Registration and integration of multiple object views for 3d model construction. IEEE Transactions on Pattern Analysis and Machine Intelligence, 20(1), 83-89.
13. Du, S.; Zheng, N.; Ying, S.; & Wei, J. (2007a). ICP with bounded scale for registration of m-d point sets. In Proceedings of the IEEE international conference on multimedia and expo, 2007 (pp. 1291-1294)
14. Du, S.; Zheng, N.; Ying, S.; You, Q.; & Wu, Y. (2007b). An extension of the icp algorithm considering scale factor. In Proceedings of the IEEE international conference on image processing, ICIP 2007, Vol. 5 (pp. V-193-V-196).
15. Fan, J.; Zeng, M.; Body, M.; & Hacid, M. S. (2005). Seeded region growing: An extensive and comparative study. Pattern Recognition Letters, 26, 1139-1156.
16. Godin, G.; Rioux, M.; & Baribeau, R. (1994). Three-dimensional registration using range and intensity information. In S. F. El-Hakim (Ed.), Proceedings of SPIE, Videometrics III, Vol. 2350 (pp. 279-290). Presented at the Society of Photo-Optical Instrumentation Engineers (SPIE) Conference
17. Goecke, R.; Asthana, A.; Pettersson, N.; & Petersson, L. (2007). Visual vehicle egomotion estimation using the fourier-mellin transform. In Proceedings of the IEEE intelligent vehicles symposium (pp. 450-455).
18. Johnson, A.; & Hebert, M. (1997). Surface registration by matching oriented points. In M. Hebert (Ed.), Proceedings of international conference on recent advances in 3-D digital imaging and modeling, 1997 (pp. 121-128).
19. Kanatani, K. (1993). Geometric computation for machine vision. Oxford: Oxford University Press, Inc.
20. Katz, R.; Nieto, J.; & Nebot, E. (2010). Unsupervised classification of dynamic obstacles in urban environments. Journal of Field Robotics, 27, 450-472.
21. Kim, S.; Jho, C.; & Hong, H. (2003). Automatic registration of 3D data sets from unknown viewpoints. In Workshop on frontiers of computer vision
22. Koch, O.; & Teller, S. (2007). Wide-area egomotion estimation from known 3D structure. In Proceedings of the IEEE conference on computer vision and pattern recognition CVPR '07 (pp. 1-8)
23. Kümmerle, R.; Triebel, R.; Pfaff, P.; & Burgard, W. (2008). Monte carlo localization in outdoor terrains using multilevel surface maps. Journal of Field Robotics, 25(6-7), 346-359.
24. Martin Nevado, M.; Gomez Garcia-Bermejo, J.; & Zalama Casanova, E. (2004). Obtaining 3D models of indoor environments with a mobile robot by estimating local surface directions. Robotics and Autonomous Systems, 48(2-3), 131-143.
25. Masuda, T.; Sakaue, K.; & Yokoya, N. (1996). Registration and integration of multiple range images for 3-D model construction. In Proceedings of the 1996 international conference on pattern recognition (ICPR '96). IEEE Computer Society, Vol. 1-7270 (p. 879).
26. Munyoz-Salinas, R.; Aguirre, E.; García-Silvente, M.; & Gonzalez, A. (2008). A multiple object tracking approach that combines colour and depth information using a confidence measure. Pattern Recognition Letters, 29(10), 1504-1514.
27. Nüchter, A.; Hertzberg, J.; Lingemann, K.; & Surmann, H. (2007). 6D SLAM - 3D mapping outdoor environments. Journal of Field Robotics, 24(8-9), 699-722.
28. Nuchter, A.; Lingemann, K.; & Hertzberg, J. (2007). Cached k-d tree search for icp algorithms. In Proceedings of the sixth international conference on 3-D digital imaging and modeling 3DIM '07 (pp. 419-426)
29. Pulli, K. (1999). Multiview registration for large data sets. In Proceedings of the second international conference on 3-D digital imaging and modeling (pp. 160-168)
30. Pulli, K. A. (1997). Surface reconstruction and display from range and color data. PhD thesis, University of Washington.
31. Rusinkiewicz, S.; & Levoy, M. (2001). Efficient variants of the ICP algorithm. In Proceedings of the third international conference on 3-D digital imaging and modeling (pp. 145-152)
32. Salvi, J.; Matabosch, C.; Fofi, D.; & Forest, J. (2007). A review of recent range image registration methods with accuracy evaluation. Image and Vision Computing, 25(5), 578-596.
33. Segal, A.; Haehnel, D.; & Thrun, S. (2009). Generalized-icp. In Proceedings of robotics: Science and systems, Seattle.
34. Shih, F. Y.; & Cheng, S. (2005). Automatic seeded region growing for color image segmentation. Image and Vision Computing, 23, 877-886.
35. Trucco, S.; & Verri, A. (1998). Introductory techiques in computer vision. Upper Saddle River: Prentice-Hall.
36. Turk, G.; & Levoy, M. (1994). Zippered polygon meshes from range images. In Proceedings of the 21st annual conference on computer graphics and interactive techniques, ACM (pp. 311-318)
37. Viejo, D.; & Cazorla, M. (2007). 3D plane-based egomotion for slam on semi-structured environment. In IEEE/RSJ international conference on intelligent robots and systems, IROS 2007 (pp. 2761-2766). doi: 10.1109/IROS.2007.4399138.
38. Viejo, D.; Cazorla, M. (2008). 3D model based map building. In International symposium on robotics, ISR 2008, Seul.
39. Viejo, D.; & Cazorla, M. (2013). Rovit data set. http://www.rovit.ua. es/dataset/
40. Weik, S. (1997). Registration of 3-D partial surface models using luminance and depth information. In Proceedings of the international conference on recent advances in 3-D digital imaging and modeling (pp. 93-100)
41. Weingarten, J.; & Siegwart, R. (2005). EKF-based 3D SLAM for structured environment reconstruction. In R. Siegwart (Ed.), IEEE/RSJ international conference on intelligent robots and systems, 2005 (IROS 2005) (pp. 3834-3839)
42. Weingarten, J.; Gruener, G.; Siegwart, R. (2004). Probabilistic plane fitting in 3D and an application to robotic mapping. In Proceedings of the IEEE international conference on robotics and automation ICRA '04, Vol. 1 (pp. 927-932)
43. Zhang, Z. (1994). Iterative point matching for registration of free-form curves and surfaces. International Journal of Computer Vision, 13(2), 119-152.