Conference Proceedings
Efficient and Accurate Registration of Point Clouds with Plane to Plane Correspondences
Wolfgang Foerstner, Kourosh Khoshelham
2017 IEEE INTERNATIONAL CONFERENCE ON COMPUTER VISION WORKSHOPS (ICCVW 2017) | IEEE | Published : 2017
Abstract
We propose and analyse methods to efficiently register point clouds based on plane correspondences. This is relevant in man-made environments, where most objects are bounded by planar surfaces. Based on a segmentation of the point clouds into planar regions and matches of planes in different point clouds, we (1) optimally estimate the relative pose(s); (2) provide three direct solutions, of which two take the uncertainty of the given planes into account; and (3) analyse the loss in accuracy of the direct solutions as compared to the optimal solution. The paper presents the different solutions, derives their uncertainty especially of the suboptimal direct solutions, and compares their accurac..
View full abstract