Minimum Potential Energy of Point Cloud for Robust Global Registration
- URL: http://arxiv.org/abs/2006.06460v2
- Date: Fri, 12 Jun 2020 02:41:13 GMT
- Title: Minimum Potential Energy of Point Cloud for Robust Global Registration
- Authors: Zijie Wu, Yaonan Wang, Qing Zhu, Jianxu Mao, Haotian Wu, Mingtao Feng
and Ajmal Mian
- Abstract summary: We propose a novel minimum gravitational potential energy (MPE)-based algorithm for global point set registration.
We demonstrate the performance of the proposed algorithm on synthetic data as well as on real data.
- Score: 45.82423981744138
- License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
- Abstract: In this paper, we propose a novel minimum gravitational potential energy
(MPE)-based algorithm for global point set registration. The feature
descriptors extraction algorithms have emerged as the standard approach to
align point sets in the past few decades. However, the alignment can be
challenging to take effect when the point set suffers from raw point data
problems such as noises (Gaussian and Uniformly). Different from the most
existing point set registration methods which usually extract the descriptors
to find correspondences between point sets, our proposed MPE alignment method
is able to handle large scale raw data offset without depending on traditional
descriptors extraction, whether for the local or global registration methods.
We decompose the solution into a global optimal convex approximation and the
fast descent process to a local minimum. For the approximation step, the
proposed minimum potential energy (MPE) approach consists of two main steps.
Firstly, according to the construction of the force traction operator, we could
simply compute the position of the potential energy minimum; Secondly, with
respect to the finding of the MPE point, we propose a new theory that employs
the two flags to observe the status of the registration procedure. The method
of fast descent process to the minimum that we employed is the iterative
closest point algorithm; it can achieve the global minimum. We demonstrate the
performance of the proposed algorithm on synthetic data as well as on real
data. The proposed method outperforms the other global methods in terms of both
efficiency, accuracy and noise resistance.
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