Efficient and Accurate Registration of Point Clouds With Plane to Plane Correspondences

Wolfgang Forstner, Kourosh Khoshelham; Proceedings of the IEEE International Conference on Computer Vision (ICCV), 2017, pp. 2165-2173

Abstract


We propose and analyse methods to efficiently register point clouds based on plane correspondences. 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, and compares their accuracy based on simulated and real data.

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[bibtex]
@InProceedings{Forstner_2017_ICCV,
author = {Forstner, Wolfgang and Khoshelham, Kourosh},
title = {Efficient and Accurate Registration of Point Clouds With Plane to Plane Correspondences},
booktitle = {Proceedings of the IEEE International Conference on Computer Vision (ICCV) Workshops},
month = {Oct},
year = {2017}
}