NDLI: Multi-vision information fusion of a laser scanning system

Content Provider	IEEE Xplore Digital Library
Author	Lihong Xu Weihai Chen Weiyang Song Jianhua Wang
Copyright Year	2008
Description	Author affiliation: Sch. of Autom. Sci. & Electr. Eng., Beijing Univ. of Aeronaut. & Astronaut., Beijing (Lihong Xu; Weihai Chen; Weiyang Song; Jianhua Wang)
Abstract	3D environment reconstruction based on the data of laser radar, which is an important subject in the research and applications of optical 3D sensing, is very important for promotion of optical 3D sensing. This paper has presented an 3D laser scanning system based on 2D laser radar and embedded control unit and demonstrated the 3D model reconstruction from collected range image. The Iterative Closet Point (ICP) algorithm has been used for the registration of 3D geometric data from different viewpoints. The ICP algorithm adopts quaternion expression for computing the rotation matrix R and translation vector t to realize registration. The paper has summed up the choice of the closet point and presented a new solution for the speeding up of the ICP algorithm by introducing five constraint conditions of registration point pair. After the false pair of points being canceled, the number of point pair decreases. The run time is shorten as well.
Starting Page	46
Ending Page	50
File Size	590356
Page Count	5
File Format	PDF
ISBN	9781424421701
ISSN	19354576
DOI	10.1109/INDIN.2008.4618063
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-07-13
Publisher Place	South Korea
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	3D Reconstruction Laser Scanning System Range Image Registration Iterative Closet Point
Content Type	Text
Resource Type	Article

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