LIE GROUP FRAMEWORK OF ITERATIVE CLOSEST POINT ALGORITHM FOR n-D DATA REGISTRATION

CASIA OpenIR > 多模态人工智能系统全国重点实验室 > 机器人理论与应用

	LIE GROUP FRAMEWORK OF ITERATIVE CLOSEST POINT ALGORITHM FOR n-D DATA REGISTRATION
	Ying, Shihui 1,2; Peng, Jigen 1; Du, Shaoyi 3; Qiao, Hong4
发表期刊	INTERNATIONAL JOURNAL OF PATTERN RECOGNITION AND ARTIFICIAL INTELLIGENCE
	2009-09-01
卷号	23 期号:6 页码:1201-1220
文章类型	Article
摘要	The iterative closet point (ICP) method is a dominant method for data registration that has attracted extensive attention. In this paper, a unified mathematical model of ICP based on Lie group representation is established. Under the framework, the registration problem is formulated into an optimization problem over a certain Lie group. In order to simplify the model and to reduce the dimension of parameter space, the translation part of geometric transformation is eliminated by calibrating the centers of two data sets under registration. As a result, a fast algorithm by solving an iterative linear system is designed for the optimization problem on Lie groups. Moreover, PCA and ICA methods are jointly applied to estimate the initial registration to achieve the global minimum. Finally, several illustrations and comparison experiments are presented to test the performance of the proposed algorithm.
关键词	Icp Lie Group Registration Iterative Linear Systems Initial Parameters
WOS标题词	Science & Technology ; Technology
关键词[WOS]	NONRIGID REGISTRATION ; IMAGE REGISTRATION ; 3D ; SURFACES ; MATRIX ; SETS ; ICP
收录类别	SCI
语种	英语
WOS研究方向	Computer Science
WOS类目	Computer Science, Artificial Intelligence
WOS记录号	WOS:000269776400008
引用统计	被引频次：16[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/3015
专题	多模态人工智能系统全国重点实验室_机器人理论与应用
作者单位	1.Xi An Jiao Tong Univ, Inst Informat & Syst Sci, Fac Sci, Xian 710049, Peoples R China 2.Shanghai Univ, Fac Sci, Dept Math, Shanghai 200444, Peoples R China 3.Xi An Jiao Tong Univ, Inst Artificial Intelligence & Robot, Xian 710049, Peoples R China 4.Chinese Acad Sci, Inst Automat, Key Lab Complex Syst & Intelligent Sci, Beijing 100080, Peoples R China
推荐引用方式 GB/T 7714	Ying, Shihui,Peng, Jigen,Du, Shaoyi,et al. LIE GROUP FRAMEWORK OF ITERATIVE CLOSEST POINT ALGORITHM FOR n-D DATA REGISTRATION[J]. INTERNATIONAL JOURNAL OF PATTERN RECOGNITION AND ARTIFICIAL INTELLIGENCE,2009,23(6):1201-1220.
APA	Ying, Shihui,Peng, Jigen,Du, Shaoyi,&Qiao, Hong.(2009).LIE GROUP FRAMEWORK OF ITERATIVE CLOSEST POINT ALGORITHM FOR n-D DATA REGISTRATION.INTERNATIONAL JOURNAL OF PATTERN RECOGNITION AND ARTIFICIAL INTELLIGENCE,23(6),1201-1220.
MLA	Ying, Shihui,et al."LIE GROUP FRAMEWORK OF ITERATIVE CLOSEST POINT ALGORITHM FOR n-D DATA REGISTRATION".INTERNATIONAL JOURNAL OF PATTERN RECOGNITION AND ARTIFICIAL INTELLIGENCE 23.6(2009):1201-1220.