Efficient radius neighbor search in three-dimensional point clouds

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 2015-June, Issue June, 2015, Pages 3625-3630

  Behley, Jens ^a   Steinhage, Volker ^a   Cremers, Armin B ^a  

^a UNIVERSITY OF BONN   (Germany)

Author keywords

[No Author keywords available]

Indexed keywords

AGRICULTURAL ROBOTS;

INTEGRAL PART; LASER RANGE DATA; NEIGHBOR SEARCHES; OCTREE REPRESENTATION; POINT CLOUD; RUN-TIME PERFORMANCE; STATE OF THE ART; THREE-DIMENSIONAL POINT CLOUDS;

ROBOTICS;

EID: 84938232264     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICRA.2015.7139702     Document Type: Conference Paper

References (22)

1. J. Behley, V. Steinhage, and A. B. Cremers, "Performance of Histogram Descriptors for the Classification of 3D Laser Range Data in Urban Environments," in ICRA, 2012, pp. 4391-4398.
2. X. Xiong, D. Munoz, J. A. Bagnell, and M. Hebert, "3-D Scene Analysis via Sequenced Predictions over Points and Regions," in ICRA, 2011, pp. 2609-2616.
3. N. J. Mitra and A. Nguyen, "Estimating Surface Normals in Noisy Point Cloud Data," in SCG, 2003, pp. 322-328.
4. K. Klasing, D. Wollherr, and M. Buss, "A Clustering Method for Efficient Segmentation of 3d Laser Data," in ICRA, 2008, pp. 4043-4048.
5. M. Muja and D. G. Lowe, "Scalable Nearest Neighbor Algorithms for High Dimensional Data," TPAMI, 2014.
6. T. Liu, A. W. Moore, K. Yang, and A. G. Gray, "An Investigation of Practical Approximate Nearest Neighbor Algorithms," in NIPS, 2004, pp. 825-832.
7. S. Arya, D. M. Mount, N. S. Netanyahu, R. Silverman, and A. Y. Wu, "An optimal algorithm for approximate nearest neighbor searching in fixed dimensions," JACM, vol. 45, no. 6, pp. 891-923, 1998.
8. F. Gieseke, J. Heinermann, C. Oancea, and C. Igel, "Buffer k-d Trees: Processing Massive Nearest Neighbor Queries on GPUs," in ICML, 2014, pp. 172-180.
9. J. L. Bentley, "Multidimensional binary search trees used for associative searching," CACM, vol. 18, no. 9, pp. 509-517, 1975.
10. D. Meagher, "Geometric Modeling Using Octree Encoding," Comp. Graph. And Image Proc., vol. 19, pp. 129-147, 1982.
11. A. Hornung, K. M. Wurm, M. Bennewitz, C. Stachniss, and W. Burgard, "OctoMap: An Efficient Probabilistic 3D Mapping Framework Based on Octrees," AURO, vol. 34, no. 3, pp. 189-206, 2013.
12. J. Elseberg, D. Borrmann, and A. Nüchter, "One billion points in the cloud-an octree for efficient processing of 3D laser scans," ISPRS J. of Photogramm. And Rem. Sens., vol. 76, pp. 76-88, 2013.
13. G. M. Morton, "A Computer Oriented Geodetic Data Base and a New Technique in File Sequencing," IBM, Tech. Rep., 1966.
14. J. Elseberg, S. Magnenat, R. Siegwart, and A. Nüchter, "Comparison of nearest-neighbor-search strategies and implementations for efficient shape registration," JOSER, vol. 3, no. 1, pp. 2-12, 2012.
15. M. Muja and D. G. Lowe, "Fast Approximate Nearest Neighbors with Automatic Algorithm Configuration," in VISAPP, 2009.
16. R. B. Rusu and S. Cousins, "3D is here: Point Cloud Library (PCL)," in ICRA, 2011.
17. B. Steder, G. Grisetti, and W. Burgard, "Robust Place Recognition for 3D Range Data based on Point Features," in ICRA, 2010, pp. 1400-1405.
18. D. Munoz, J. A. D. Bagnell, N. Vandapel, and M. Hebert, "Contextual Classification with Functional Max-Margin Markov Networks," in CVPR, 2009, pp. 975-982.
19. R. C. Hoetzlein, "Fast Fixed-Radius Nearest Neighbors: Interactive Million-Particle Fluids," in GPU Tech. Conf., 2014.
20. J. L. Bentley, "A Survey of Techniques for Fixed Radius Near Neighbor Searching," Stanford University, Tech. Rep., 1975.
21. J. L. Bentley and J. H. Friedman, "Data Structures for Range Searching," CSUR, vol. 11, no. 4, pp. 397-409, 1979.
22. P. J. Besl and N. D. McKay, "A Method for Registration of 3-D Shapes," TPAMI, vol. 14, no. 2, pp. 239-256, 1992.