NDLI: Accelerated Coherent Point Drift for Automatic Three-Dimensional Point Cloud Registration

Content Provider	IEEE Xplore Digital Library
Author	Min Lu Jian Zhao Yulan Guo Yanxin Ma
Copyright Year	2004
Abstract	Fully automatic 3-D point cloud registration is a highly challenging task in light detection and ranging (LiDAR) remote sensing. The coherent point drift (CPD) algorithm provides an appropriate solution for point cloud registration because of its high accuracy. However, real application of the traditional CPD algorithm is limited due to its demanding computational complexity. In this letter, we present a novel accelerated CPD (ACPD) algorithm for fast, accurate, and automatic registration of 3-D point clouds. First, a global squared iterative expectation-maximization (gSQUAREM) technique is integrated to the ACPD algorithm. Then, the dual-tree improved fast Gauss transform method is used to further accelerate the Gaussian summation process during the correspondence probability matrix calculation. Experimental results on two real data sets show that the proposed algorithm can perform fast and accurate registration on LiDAR point clouds.
Sponsorship	IEEE Geoscience and Remote Sensing Society
Starting Page	162
Ending Page	166
Page Count	5
File Size	1866044
File Format	PDF
ISSN	1545598X
Volume Number	13
Issue Number	2
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2016-01-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Three-dimensional displays Acceleration Iterative closest point algorithm Computational complexity Laser radar Transforms Probability point cloud registration Coherent point drift (CPD) fast gauss transform (FGT) gaussian mixture model (GMM) iterative expectation–maximization
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering Geotechnical Engineering and Engineering Geology

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
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
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
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

A refined coherent point drift (CPD) algorithm for point set registration

Point cloud registration algorithm based on NDT with variable size voxel

NICP: Dense normal based point cloud registration

3D Scan Registration Using Curvelet Features

MLMD: Maximum Likelihood Mixture Decoupling for Fast and Accurate Point Cloud Registration

Point cloud registration in shoe glue spraying line

Point cloud partitioning approach for ICP improvement

Mosaic research with 3D lidar point cloud of civil aircraft

Image Registration Technique Based on a Fast CPD Algorithm

Accelerated Coherent Point Drift for Automatic Three-Dimensional Point Cloud Registration

Similar Documents

A refined coherent point drift (CPD) algorithm for point set registration

Point cloud registration algorithm based on NDT with variable size voxel

NICP: Dense normal based point cloud registration

3D Scan Registration Using Curvelet Features

MLMD: Maximum Likelihood Mixture Decoupling for Fast and Accurate Point Cloud Registration

Point cloud registration in shoe glue spraying line

Point cloud partitioning approach for ICP improvement

Mosaic research with 3D lidar point cloud of civil aircraft

Image Registration Technique Based on a Fast CPD Algorithm

Accelerated Coherent Point Drift for Automatic Three-Dimensional Point Cloud Registration