Global Consistent Point Cloud Registration Based on Lie-algebraic Cohomology

We present a novel, effective method for global point cloud registration problems by geometric topology. Based on many point cloud pairwise registration methods (e.g ICP), we focus on the problem of accumulated error for the composition of transformations along any loops. The major technical contrib...

Ausführliche Beschreibung

Gespeichert in:
Bibliographische Detailangaben
Hauptverfasser: Ren, Yuxue, Jiang, Baowei, Chen, Wei, Lei, Na, Gu, Xianfeng David
Format: Artikel
Sprache:eng
Schlagworte:
Online-Zugang:Volltext bestellen
Tags: Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
Beschreibung
Zusammenfassung:We present a novel, effective method for global point cloud registration problems by geometric topology. Based on many point cloud pairwise registration methods (e.g ICP), we focus on the problem of accumulated error for the composition of transformations along any loops. The major technical contribution of this paper is a linear method for the elimination of errors, using only solving a Poisson equation. We demonstrate the consistency of our method from Hodge-Helmhotz decomposition theorem and experiments on multiple RGBD datasets of real-world scenes. The experimental results also demonstrate that our global registration method runs quickly and provides accurate reconstructions.
DOI:10.48550/arxiv.2208.07103