Mr. Mikhail Turov Profile

Mikhail Turov

at Chelyabinsk State Univ.

SPIE Involvement:

Author

Publications (1)

This will count as one of your downloads.

You will have access to both the presentation and article (if available).

DOWNLOAD NOW

This content is available for download via your institution's subscription. To access this item, please sign in to your personal account.

Email or Username Forgot your username?

Password Forgot your password?

Show

Keep me signed in

No SPIE account? Create an account

Proceedings Article | 3 October 2022 Poster + Paper

Clustering in coarse registration task and extraction of common parts of point clouds

Sergei Voronin, Artyom Makovetskii, Vitaly Kober, Aleksei Voronin, Mikhail Turov

Proceedings Volume 12226, 122261F (2022) https://doi.org/10.1117/12.2633548

KEYWORDS: Clouds, Matrices, 3D modeling, Data modeling, Reconstruction algorithms, Machine vision, Databases, Computer vision technology, Computer simulations, 3D vision

Read Abstract +

Point cloud registration is an important method in 3D point cloud processing, which is used in computer vision, autonomous driving, and other fields. Point cloud registration looks for the optimal rigid transformation that can align two input point clouds to a common coordinate system. The most common method of alignment using geometric characteristics is the Iterative Closest Point (ICP) algorithm. The disadvantage of classical ICP variants, such as pointto-point and point-to-plane, is their dependence on the initial placement of point clouds. If the rotation that can align two point clouds is sufficiently large, the ICP algorithm can converge to a local minimum. Coarse point clouds registration algorithms are used to find a suitable initial alignment of two clouds. In particular, feature-based methods for coarse registration are known. In this paper, we propose an algorithm to extract the common parts of the incongruent point clouds and coarsely aligning them. We use the SHOT algorithm to find a match between two point clouds. The corresponding neighborhoods are obtained by the correspondence between points. The neighborhoods define local vector bases that allow computing an orthogonal transformation. The proposed algorithm extracts common parts of incongruent point clouds. Computer simulation results are provided to illustrate the performance of the proposed method.

My Library

You currently do not have any folders to save your paper to! Create a new folder below.

Folder Name

Folder Description

View contact details

UPDATE YOUR PROFILE

Is this your profile? Update it now.

Sign into your SPIE.org account

Don’t have a profile and want one?

Create an account on SPIE.org

Access to the requested content is limited to institutions that have purchased or subscribe to SPIE eBooks. You are receiving this notice because your organization may not have SPIE eBooks access.*

*Shibboleth/Open Athens users─please sign in to access your institution's subscriptions.

To obtain this item, you may purchase the complete book in print or electronic format on SPIE.org.

ORGANIZATIONAL
Sign in with credentials provided by your organization.

Organizational Username

Organizational Password

Show/Hide Password

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available

Members:

Non-members: ADD TO CART

Keywords/Phrases

Search In:

Publication Years