Unconstrained registration of large 3D point sets for complex model building

Owen Carmichael, Martial Hebert

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Scopus citations

Abstract

We present a method for building models of complex environments from range data gathered at multiple viewpoints. Our approach is unique in that no prior knowledge of the relative positions of the viewpoints is needed in order to register data from them. Furthermore, we present a technique for specification and utilization of so-called `common-sense' constraints on the transformations between views to improve the accuracy and speed of the registration process. Results are shown from our effort to map a 60 m. by 20 m. multiple-room storage area containing a cluttered array of objects.

Original languageEnglish (US)
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
Editors Anon
Place of PublicationPiscataway, NJ, United States
PublisherIEEE
Pages360-367
Number of pages8
Volume1
StatePublished - 1998
Externally publishedYes
EventProceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 1 (of 3) - Victoria, Can
Duration: Oct 13 1998Oct 17 1998

Other

OtherProceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 1 (of 3)
CityVictoria, Can
Period10/13/9810/17/98

ASJC Scopus subject areas

  • Control and Systems Engineering

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  • Cite this

    Carmichael, O., & Hebert, M. (1998). Unconstrained registration of large 3D point sets for complex model building. In Anon (Ed.), IEEE International Conference on Intelligent Robots and Systems (Vol. 1, pp. 360-367). IEEE.