3D POINT CLOUD REGISTRATION BASED ON MAXIMIZING LIKELIHOOD APPROACH

3D POINT CLOUD REGISTRATION BASED ON MAXIMIZING LIKELIHOOD APPROACH

A.N. Korenkov
Doctor of Physical and Mathematical Sciences, Russian State Scientific Center for Robotics and Technical Cybernetics (RTC), Leading Research Scientist, Tikhoretskiy, 21, Saint-Petersburg, Russia, tel.: +7(812)556-33-51, This email address is being protected from spambots. You need JavaScript enabled to view it. 

K.E. Monogarov
RTC, Post-graduate Student, Engineer, Tikhoretskiy, 21, Saint-Petersburg, Russia, tel.: +7(812)556-33-51, This email address is being protected from spambots. You need JavaScript enabled to view it. 


 

Abstract

Introducing 3D point set registration approach, intended to laser location applications. Algorithm based on the maximizing likelihood criteria. We consider the alignment of two point sets as a probability density estimation prob-lem. The goal is to assign correspondences between two sets of points and to recover the transformation that maps one point set to the other.

 

Key words
Point set registration, point cloud, maximizing likelihood, probability density, matching, alignment.

 

Year 2015 Issue number 1 Consecutive issue number 6 Pages 46-52
UDC identifier: 528.622.1:007.52

 

 

 

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