Lines to Planes Registration
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Date
2019-07-29
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Mark
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Science and Technology Publications
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Abstract
This paper deals with the Line-Plane registration problem. First we introduce the matter of geometrical object fitting and show the specificity of the Line-Plane combination. Then the method is derived to fulfill all usual demands we put on a registration algorithm. Our algorithm works on any number of corresponding Line-Plane pairs higher than three, providing more accurate results and better convergence, as this number gets higher. Although the computation is non-linear by its nature, benefits of the least squares optimization were preserved. The algorithm is divided into linear part dependant on the amount of input data and a non-linear part, which is not, keeping efficiency in case of large data sets. All important features were experimentally tested and proved to work.
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Citation
Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO. 2019, p. 625-632.
http://www.scitepress.org/DigitalLibrary/Link.aspx?doi=10.5220/0007834906250632
http://www.scitepress.org/DigitalLibrary/Link.aspx?doi=10.5220/0007834906250632
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Peer-reviewed
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en
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Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International
http://creativecommons.org/licenses/by-nc-nd/4.0/
http://creativecommons.org/licenses/by-nc-nd/4.0/