NDLI: Fast rotation search for real-time interactive point cloud registration

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Fast rotation search for real-time interactive point cloud registration

Content Provider	ACM Digital Library
Author	Chin, Tat-Jun Bustos, Álvaro Parra Suter, David Brown, Michael S.
Abstract	Our goal is the registration of multiple 3D point clouds obtained from LIDAR scans of underground mines. Such a capability is crucial to the surveying and planning operations in mining. Often, the point clouds only partially overlap and initial alignment is unavailable. Here, we propose an interactive user-assisted point cloud registration system. Guided by the system, the user's role is simply to identify and search for overlapping regions across the point clouds. Specifically, given two point sets, the user clicks on a point in one set, then simply hovers the mouse on the other set to find a matching point. Each mouse position gives rise to a translation, and our system instantly optimises the rotation that aligns the point clouds. Assuming that each individual point set is horizontally levelled with the ground by the level compensator on the LIDAR device, given a candidate 3D translation only one angular parameter needs to be estimated to rotationally align two 3D point sets. We propose a fast rotation search algorithm that delivers globally optimal results in real time. Our method conducts branch-and-bound optimisation with a novel bounding function whose evaluation amounts to simple sorted array operations. This provides smooth and accurate feedback to the user's search for overlapping regions. Our system is intuitive and helps to accelerate the registration of multiple scans.
Starting Page	55
Ending Page	62
Page Count	8
File Format	PDF
ISBN	9781450327176
DOI	10.1145/2556700.2556712
Language	English
Publisher	Association for Computing Machinery (ACM)
Publisher Date	2014-03-14
Publisher Place	New York
Access Restriction	Subscribed
Subject Keyword	Point cloud registration Geometric matching Real-time interaction Rotation optimisation
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
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7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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