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Feature Based Particle Filter Registration of 3D Surface Models and its Application in Robotics

Rink, Christian and Marton, Zoltan Csaba and Seth, Daniel and Bodenmüller, Tim and Suppa, Michael (2013) Feature Based Particle Filter Registration of 3D Surface Models and its Application in Robotics. In: IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS 2013, 3.-7. November 2013, Tokio, Japan.

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Abstract

This work is focused on global registration of surface models such as homogeneous triangle meshes and point clouds. The investigated approach utilizes feature descriptors in order to assign correspondences between the data sets and to reduce complexity by considering only characteristic feature points. It is based on the decomposability of rigid motions into a rotation and a translation. The space of rotations is searched with a particle filter and scoring is performed by looking for clusters in the resulting sets of translations. We use features computed from homogeneous triangle meshes and point clouds that require low computation time. A major advantage of the approach proves to be the possible consideration of prior knowledge about the relative orientation. This is especially important when high noise levels produce deteriorated features that are hard to match correctly. Comparisons to existing algorithms show the method’s competitiveness, and results in robotic applications with different sensor types are presented.

Item URL in elib:https://elib.dlr.de/89917/
Document Type:Conference or Workshop Item (Speech)
Title:Feature Based Particle Filter Registration of 3D Surface Models and its Application in Robotics
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Rink, ChristianChristian.Rink (at) dlr.dehttps://orcid.org/0000-0002-2175-0068
Marton, Zoltan Csabazoltan.marton (at) dlr.dehttps://orcid.org/0000-0002-3035-493X
Seth, DanielDaniel.Seth (at) dlr.dehttps://orcid.org/0000-0002-6138-1252
Bodenmüller, TimTim.Bodenmueller (at) dlr.dehttps://orcid.org/0000-0003-0899-361X
Suppa, MichaelMichael.Suppa (at) dlr.dehttps://orcid.org/0000-0002-7362-9534
Date:November 2013
Journal or Publication Title:IEEE/RSJ International Conference on Intelligent Robots and Systems
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:Yes
Series Name:Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems
Status:Published
Keywords:pose estimation, registration, feature, surface models
Event Title:IROS 2013
Event Location:Tokio, Japan
Event Type:international Conference
Event Dates:3.-7. November 2013
Organizer:IEEE/RSJ
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Multisensorielle Weltmodellierung
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Perception and Cognition
Deposited By: Rink, Christian
Deposited On:17 Oct 2014 14:42
Last Modified:05 Feb 2020 15:01

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