Name
Abstract | ||
|---|---|---|
A novel solution is obtained to solve the rigid 3D registration problem, motivated by previous eigen-decomposition approaches. Different from existing solvers, the proposed algorithm does not require sophisticated matrix operations e.g. singular value decomposition or eigenvalue decomposition. Instead, the optimal eigenvector of the point cross-covariance matrix can be computed within several iterations. It is also proven that the optimal rotation matrix can be directly computed for cases without need of quaternion. Simulations on noise-corrupted point clouds have verified the robustness and computation speed of the proposed method. The final results indicate that the proposed algorithm is accurate, robust and owns over $30% sim 80%$ less computation time than representatives. It has also been applied to real-world applications for faster relative robotic navigation. |
Year | Venue | Field |
|---|---|---|
2018 | arXiv: Systems and Control | Computer science,Algorithm |
DocType | Volume | Citations |
Journal | abs/1806.00627 | 0 |
PageRank | References | Authors |
0.34 | 0 | 4 |