Publication detail

Lines to Planes Registration

JELÍNEK, A. LIGOCKI, A.

Original Title

Lines to Planes Registration

Type

conference paper

Language

English

Original Abstract

This paper deals with the Line-Plane registration problem. First we introduce the matter of geometrical object fitting and show the specificity of the Line-Plane combination. Then the method is derived to fulfill all usual demands we put on a registration algorithm. Our algorithm works on any number of corresponding Line-Plane pairs higher than three, providing more accurate results and better convergence, as this number gets higher. Although the computation is non-linear by its nature, benefits of the least squares optimization were preserved. The algorithm is divided into linear part dependant on the amount of input data and a non-linear part, which is not, keeping efficiency in case of large data sets. All important features were experimentally tested and proved to work.

Keywords

Line, Plane, Registration, Least Squares, Optimization, Rigid Transformation, Data Fitting

Authors

JELÍNEK, A.; LIGOCKI, A.

Released

29. 7. 2019

Publisher

Science and Technology Publications

ISBN

978-989-758-380-3

Book

Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO

Pages from

625

Pages to

632

Pages count

825

URL

http://www.scitepress.org/DigitalLibrary/Link.aspx?doi=10.5220/0007834906250632

Full text in the Digital Library

http://hdl.handle.net/11012/184083

BibTex

@inproceedings{BUT156733,
  author="Aleš {Jelínek} and Adam {Ligocki}",
  title="Lines to Planes Registration",
  booktitle="Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO",
  year="2019",
  pages="625--632",
  publisher="Science and Technology Publications",
  doi="10.5220/0007834906250632",
  isbn="978-989-758-380-3",
  url="http://www.scitepress.org/DigitalLibrary/Link.aspx?doi=10.5220/0007834906250632"
}