Fast Point Feature Histograms (FPFH) for 3D registration
作者： Radu Bogdan Rusu , Nico Blodow , Michael Beetz , None
DOI: 10.1109/ROBOT.2009.5152473
关键词:
摘要: In our recent work [1],[2], we proposed Point Feature Histograms (PFH) as robust multi-dimensional features which describe the local geometry around a point p for 3D point cloud datasets. In this paper, we modify their mathematical expressions and perform a rigorous analysis on their robustness and complexity for the problem of 3D registration for overlapping point cloud views. More concretely, we present several optimizations that reduce their computation times drastically by either caching previously computed values or …
acm.org 
sci-hub.se 参考文章(19)
Zhengyou Zhang, Iterative point matching for registration of free-form curves INRIA. pp. 42- ,(1992)
A. Barla, F. Odone, A. Verri, Histogram intersection kernel for image classification international conference on image processing. ,vol. 3, pp. 513- 516 ,(2003) , 10.1109/ICIP.2003.1247294
Nico Blodow, Michael Beetz, Radu Bogdan Rusu, Zoltan Csaba Marton, Persistent Point Feature Histograms for 3D Point Clouds international conference on intelligent autonomous systems. pp. 119- 128 ,(2008) , 10.3233/978-1-58603-887-8-119
Andrew W Fitzgibbon, Robust registration of 2D and 3D point sets Image and Vision Computing. ,vol. 21, pp. 1145- 1153 ,(2003) , 10.1016/J.IMAVIS.2003.09.004
Helmut Pottmann, Leonidas J. Guibas, Natasha Gelfand, Niloy J. Mitra, Robust global registration symposium on geometry processing. pp. 197- 206 ,(2005) , 10.5555/1281920.1281953
P.J. Besl, Neil D. McKay, A method for registration of 3-D shapes IEEE Transactions on Pattern Analysis and Machine Intelligence. ,vol. 14, pp. 239- 256 ,(1992) , 10.1109/34.121791
Radu Bogdan Rusu, Zoltan Csaba Marton, Nico Blodow, Mihai Dolha, Michael Beetz, None, Towards 3D Point cloud based object maps for household environments Robotics and Autonomous Systems. ,vol. 56, pp. 927- 941 ,(2008) , 10.1016/J.ROBOT.2008.08.005
Andreas Nuchter, Kai Lingemann, Joachim Hertzberg, Cached k-d tree search for ICP algorithms digital identity management. pp. 419- 426 ,(2007) , 10.1109/3DIM.2007.15
Radu Bogdan Rusu, Nico Blodow, Zoltan Csaba Marton, Michael Beetz, Aligning point cloud views using persistent feature histograms intelligent robots and systems. pp. 3384- 3391 ,(2008) , 10.1109/IROS.2008.4650967
A.E. Johnson, M. Hebert, Using spin images for efficient object recognition in cluttered 3D scenes IEEE Transactions on Pattern Analysis and Machine Intelligence. ,vol. 21, pp. 433- 449 ,(1999) , 10.1109/34.765655