An Improved ICP Registration Algorithm by Combining PointNet plus plus and ICP Algorithm

Cited 5 time in webofscience Cited 0 time in scopus
  • Hit : 103
  • Download : 0
DC FieldValueLanguage
dc.contributor.authorHe, Yuewangko
dc.contributor.authorLee, Chang-Heeko
dc.date.accessioned2021-11-10T06:51:58Z-
dc.date.available2021-11-10T06:51:58Z-
dc.date.created2021-10-19-
dc.date.created2021-10-19-
dc.date.issued2020-04-20-
dc.identifier.citation6th International Conference on Control, Automation and Robotics (ICCAR), pp.741 - 745-
dc.identifier.issn2251-2446-
dc.identifier.urihttp://hdl.handle.net/10203/289144-
dc.description.abstractA registration algorithm matches two point clouds into one same coordinate system, which is widely used in object reconstruction and positioning of autonomous cars. The traditional point cloud registration algorithm such as an ICP cannot meet the requirements of initial value independence and real-time, furthermore, most improved ICP algorithms are based on the extraction of a single feature. Since PointNet++ is a deep learning model that can directly consume a disordered point cloud, we combine PointNet++ with ICP for a new registration method. Multiple features can be extracted by PointNet++, and these features are used as the basis for the registration. Then, the rotation and translation can be calculated by ICP algorithm. Experiments show that our registration method can achieve fast and robust registration.-
dc.languageEnglish-
dc.publisherIEEE-
dc.titleAn Improved ICP Registration Algorithm by Combining PointNet plus plus and ICP Algorithm-
dc.typeConference-
dc.identifier.wosid000591176900126-
dc.identifier.scopusid2-s2.0-85087045260-
dc.type.rimsCONF-
dc.citation.beginningpage741-
dc.citation.endingpage745-
dc.citation.publicationname6th International Conference on Control, Automation and Robotics (ICCAR)-
dc.identifier.conferencecountrySI-
dc.identifier.conferencelocationVirtual-
dc.identifier.doi10.1109/ICCAR49639.2020.9108032-
dc.contributor.localauthorLee, Chang-Hee-
dc.contributor.nonIdAuthorHe, Yuewang-
Appears in Collection
EE-Conference Papers(학술회의논문)
Files in This Item
There are no files associated with this item.
This item is cited by other documents in WoS
⊙ Detail Information in WoSⓡ Click to see webofscience_button
⊙ Cited 5 items in WoS Click to see citing articles in records_button

qr_code

  • mendeley

    citeulike


rss_1.0 rss_2.0 atom_1.0