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Multi-resolution ICP for the efficient registration of point clouds based on octrees

Michiel Vlaminck UGent, Hiep Luong UGent and Wilfried Philips UGent (2017) PROCEEDINGS OF THE FIFTEENTH IAPR INTERNATIONAL CONFERENCE ON MACHINE VISION APPLICATIONS - MVA2017 . p.334-337
abstract
In this paper we propose a multiresolution scheme based on hierarchical octrees for the registration of point clouds acquired by lidar scanners. The point density of these point clouds is generally sparse and inhomogeneous, a property that can yield a risk for correct alignment. Experiments demonstrate that our multiresolution technique is a lot faster than the traditional iterative closest point (ICP) algorithm while it is more robust, e.g. in case of abrupt movements of the sensor. We can report a speed-up factor of more than 30, without jeopardizing the level of accuracy. In scenarios for which the level of detail is less critical, e.g. in case of navigation for autonomous robots, we can even achieve a larger speed-up by trading speed for quality.
Please use this url to cite or link to this publication:
author
organization
year
type
conference (proceedingsPaper)
publication status
published
in
PROCEEDINGS OF THE FIFTEENTH IAPR INTERNATIONAL CONFERENCE ON MACHINE VISION APPLICATIONS - MVA2017
pages
334 - 337
publisher
IAPR
conference name
15th IAPR International Conference on Machine Vision Applications (MVA)
conference organizer
IAPR
conference location
Nagoya Univ, Nagoya, JAPAN
conference start
2017-05-08
conference end
2017-05-12
Web of Science type
Proceedings Paper
Web of Science id
000426950300083
ISBN
978-1-5386-0495-3
978-4-9011-2216-0
language
English
UGent publication?
yes
classification
P1
copyright statement
I have retained and own the full copyright for this publication
id
8511831
handle
http://hdl.handle.net/1854/LU-8511831
date created
2017-03-01 09:17:06
date last changed
2018-05-03 06:45:15
@inproceedings{8511831,
  abstract     = {In this paper we propose a multiresolution scheme based on hierarchical octrees for the registration of point clouds acquired by lidar scanners. The point density of these point clouds is generally sparse and inhomogeneous, a property that can yield a risk for correct alignment. Experiments demonstrate that our multiresolution technique is a lot faster than the traditional iterative closest point (ICP) algorithm while it is more robust, e.g. in case of abrupt movements of the sensor. We can report a speed-up factor of more than 30, without jeopardizing the level of accuracy. In scenarios for which the level of detail is less critical, e.g. in case of navigation for autonomous robots, we can even achieve a larger speed-up by trading speed for quality.},
  author       = {Vlaminck, Michiel and Luong, Hiep and Philips, Wilfried},
  booktitle    = {PROCEEDINGS OF THE FIFTEENTH IAPR INTERNATIONAL CONFERENCE ON MACHINE VISION APPLICATIONS - MVA2017 },
  isbn         = {978-1-5386-0495-3},
  language     = {eng},
  location     = {Nagoya Univ, Nagoya, JAPAN },
  pages        = {334--337},
  publisher    = {IAPR},
  title        = {Multi-resolution ICP for the efficient registration of point clouds based on octrees},
  year         = {2017},
}

Chicago
Vlaminck, Michiel, Hiep Luong, and Wilfried Philips. 2017. “Multi-resolution ICP for the Efficient Registration of Point Clouds Based on Octrees.” In PROCEEDINGS OF THE FIFTEENTH IAPR INTERNATIONAL CONFERENCE ON MACHINE VISION APPLICATIONS - MVA2017 , 334–337. IAPR.
APA
Vlaminck, M., Luong, H., & Philips, W. (2017). Multi-resolution ICP for the efficient registration of point clouds based on octrees. PROCEEDINGS OF THE FIFTEENTH IAPR INTERNATIONAL CONFERENCE ON MACHINE VISION APPLICATIONS - MVA2017 (pp. 334–337). Presented at the 15th IAPR International Conference on Machine Vision Applications (MVA) , IAPR.
Vancouver
1.
Vlaminck M, Luong H, Philips W. Multi-resolution ICP for the efficient registration of point clouds based on octrees. PROCEEDINGS OF THE FIFTEENTH IAPR INTERNATIONAL CONFERENCE ON MACHINE VISION APPLICATIONS - MVA2017 . IAPR; 2017. p. 334–7.
MLA
Vlaminck, Michiel, Hiep Luong, and Wilfried Philips. “Multi-resolution ICP for the Efficient Registration of Point Clouds Based on Octrees.” PROCEEDINGS OF THE FIFTEENTH IAPR INTERNATIONAL CONFERENCE ON MACHINE VISION APPLICATIONS - MVA2017 . IAPR, 2017. 334–337. Print.