论文标题
全球一致的点云登记基于谎言代数共同体
Global Consistent Point Cloud Registration Based on Lie-algebraic Cohomology
论文作者
论文摘要
我们提出了一种新颖的有效方法，用于通过几何拓扑来解决全球云登记问题。基于许多点云成对注册方法（例如ICP），我们关注沿任何循环的转换组成的累积误差问题。本文的主要技术贡献是仅使用泊松方程式消除错误的线性方法。我们从Hodge-Helmhotz分解定理和实验在现实世界场景的多个RGBD数据集中进行了实验。实验结果还表明，我们的全球注册方法快速运行并提供准确的重建。
We present a novel, effective method for global point cloud registration problems by geometric topology. Based on many point cloud pairwise registration methods (e.g ICP), we focus on the problem of accumulated error for the composition of transformations along any loops. The major technical contribution of this paper is a linear method for the elimination of errors, using only solving a Poisson equation. We demonstrate the consistency of our method from Hodge-Helmhotz decomposition theorem and experiments on multiple RGBD datasets of real-world scenes. The experimental results also demonstrate that our global registration method runs quickly and provides accurate reconstructions.
