Work

Global Consistent Point Cloud Registration Based on Lie-algebraic Cohomology

Year: 2022

Type: preprint

Abstract: We present a novel, effective method for global point cloud registration problems by geometric topology. Based on many point cloud pairwise registration methods (e.g ICP), we focus on the problem of accumulated error for the composition of transformations along any loops. The major technical contribution of this paper is a linear method for the elimination of errors, using only solving a Poisson equation. We demonstrate the consistency of our method from Hodge-Helmhotz decomposition theorem and experiments on multiple RGBD datasets of real-world scenes. The experimental results also demonstrate that our global registration method runs quickly and provides accurate reconstructions.

Source: arXiv (Cornell University)

DOI: 10.48550/arxiv.2208.07103

Authors: Ren, Yuxue, Jiang, Baowei, Chen, Wei, Lei, Na, Gu, Xianfeng David

Institutions: Capital Normal University, Beijing Advanced Innovation Center for Imaging Technology, Dalian University of Technology

Language: English

Topic: 3D Shape Modeling and Analysis

Subfield: Computational Mechanics

Field: Engineering

Domain: Physical Sciences

Open Access status: green

OpenAlex ID: W4292122291

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