Advancing Global Pose Refinement: A Linear, Parameter-Free Model for Closed Circuits via Quaternion Interpolation
Abstract
:1. Introduction
2. Related Work
2.1. Pairwise Registration
2.2. Global Refinement
3. Method
3.1. Pairwise Registration
3.1.1. Voxel Sizes
3.1.2. Maximum Correspondence Distances
3.1.3. Neighborhood of the Multiscale SOR Filter
3.1.4. Neighborhood for Normal and Covariance Estimation
3.1.5. Weight Function
3.2. Proposed Global Refinement Model
4. Experiments and Discussion
4.1. Pairwise Registration of the Dataset Courtyard
4.2. Pairwise Registration of the Dataset Facade
4.3. Global Refinement Model SLERP+LUM
5. Conclusions
Supplementary Materials
Author Contributions
Funding
Institutional Review Board Statement
Informed Consent Statement
Data Availability Statement
Acknowledgments
Conflicts of Interest
References
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Parameter | Value | Description |
---|---|---|
Voxel size () | for FGR for each scale of M-GICP | Used to reduce the number of points and uniformize the density along the point cloud pair |
Maximum Correspondence Distance () | × for FGR × for each scale of M-GICP | Maximum distance to search for correspondences between source and target point cloud |
Standard deviation multiplier of the SOR filter | for FGR for each scale of M-GICP | Scales the standard deviation of the SOR filter, making it less aggressive across scales |
Neighborhood of the SOR filter | for FGR for each scale of M-GICP | Number of neighbors used by the SOR filter |
Neighborhood for normal estimation | × for FGR × for all scales of M-GICP | Neighborhood with a hybrid approach that can use a maximum radius or a knn value. |
Neighborhood for FPFH estimation | × | Neighborhood with a hybrid approach that can use a maximum radius or a knn value. |
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Benevides, R.A.L.; dos Santos, D.R.; Pavan, N.L.; Veiga, L.A.K. Advancing Global Pose Refinement: A Linear, Parameter-Free Model for Closed Circuits via Quaternion Interpolation. Sensors 2024, 24, 5112. https://doi.org/10.3390/s24165112
Benevides RAL, dos Santos DR, Pavan NL, Veiga LAK. Advancing Global Pose Refinement: A Linear, Parameter-Free Model for Closed Circuits via Quaternion Interpolation. Sensors. 2024; 24(16):5112. https://doi.org/10.3390/s24165112
Chicago/Turabian StyleBenevides, Rubens Antônio Leite, Daniel Rodrigues dos Santos, Nadisson Luis Pavan, and Luis Augusto Koenig Veiga. 2024. "Advancing Global Pose Refinement: A Linear, Parameter-Free Model for Closed Circuits via Quaternion Interpolation" Sensors 24, no. 16: 5112. https://doi.org/10.3390/s24165112