Learning to detect misaligned point clouds. Issue 5 (4th December 2017)

• Record Type: Journal Article
• Authors: Almqvist, Håkan; Magnusson, Martin; Kucner, Tomasz P.; Lilienthal, Achim J.
• Is Part Of: Journal of field robotics. Volume 35:Issue 5(2018)
• Page Start: 662
• Page End: 677
• Publication Date: 2017-12-04
• Subjects: perception -- mapping -- position estimation; Robots, Industrial -- Periodicals; Automatic control -- Periodicals; 629.892
• DOI: 10.1002/rob.21768
• Languages: English
• ISSNs: 1556-4959

Abstract

Abstract: Matching and merging overlapping point clouds is a common procedure in many applications, including mobile robotics, three‐dimensional mapping, and object visualization. However, fully automatic point‐cloud matching, without manual verification, is still not possible because no matching algorithms exist today that can provide any certain methods for detecting misaligned point clouds. In this article, we make a comparative evaluation of geometric consistency methods for classifying aligned and nonaligned point‐cloud pairs. We also propose a method that combines the results of the evaluated methods to further improve the classification of the point clouds. We compare a range of methods on two data sets from different environments related to mobile robotics and mapping. The results show that methods based on a Normal Distributions Transform representation of the point clouds perform best under the circumstances presented herein.