Enhanced ICP for the Registration of Large-Scale 3D Environment Models: An Experimental Study

Sensors
Jianda HanFeng Gu

Abstract

One of the main applications of mobile robots is the large-scale perception of the outdoor environment. One of the main challenges of this application is fusing environmental data obtained by multiple robots, especially heterogeneous robots. This paper proposes an enhanced iterative closest point (ICP) method for the fast and accurate registration of 3D environmental models. First, a hierarchical searching scheme is combined with the octree-based ICP algorithm. Second, an early-warning mechanism is used to perceive the local minimum problem. Third, a heuristic escape scheme based on sampled potential transformation vectors is used to avoid local minima and achieve optimal registration. Experiments involving one unmanned aerial vehicle and one unmanned surface vehicle were conducted to verify the proposed technique. The experimental results were compared with those of normal ICP registration algorithms to demonstrate the superior performance of the proposed method.

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Citations

Nov 18, 2016·Sensors·Michiel VlaminckWilfried Philips
Nov 23, 2016·IEEE Transactions on Visualization and Computer Graphics·Jiaxi HuJing Hua

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Software Mentioned

Point Cloud Library ( PCL )
OctoMap
Robot Operating System ( ROS )
ICP
GO

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