TEASER: Fast and Certifiable Point Cloud Registration

We propose the first fast and certifiable algorithm for the registration of two sets of three-dimensional (3-D) points in the presence of large amounts of outlier correspondences. A certifiable algorithm is one that attempts to solve an intractable optimization problem (e.g., robust estimation with...

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Veröffentlicht in:	IEEE transactions on robotics 2021-04, Vol.37 (2), p.314-333
Hauptverfasser:	Yang, Heng, Shi, Jingnan, Carlone, Luca
Format:	Artikel
Sprache:	eng
Schlagworte:	3-D robot vision Algorithms Certifiable algorithms Combinatorial analysis Datasets Estimation Gaussian noise Graph theory Least squares Noise measurement object pose estimation Object recognition Optimization Outliers (statistics) outliers-robust estimation point cloud alignment Polynomials Registration robust estimation Robustness Rotation scan matching Search problems three-dimensional (3-D) registration Three-dimensional displays
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