Registration with the Point Cloud Library: A Modular Framework for Aligning in 3-D

@article{Holz2015RegistrationWT,
  title={Registration with the Point Cloud Library: A Modular Framework for Aligning in 3-D},
  author={D. Holz and A. Ichim and Federico Tombari and R. Rusu and Sven Behnke},
  journal={IEEE Robotics & Automation Magazine},
  year={2015},
  volume={22},
  pages={110-124}
}
Registration is an important step when processing three-dimensional (3-D) point clouds. Applications for registration range from object modeling and tracking, to simultaneous localization and mapping (SLAM). This article presents the open-source point cloud library (PCL) and the tools available for point cloud registration. The PCL incorporates methods for the initial alignment of point clouds using a variety of local shape feature descriptors, as well as methods for refining initial alignments… Expand
177 Citations
Global Registration of 3D LiDAR Point Clouds Based on Scene Features: Application to Structured Environments
  • 10
  • PDF
Registration of 3D Point Clouds Using Mean Shift Clustering on Rotations and Translations
  • 1
  • PDF
Cluster ICP: Towards Sparse to Dense Registration
  • 2
  • PDF
An Analysis of Factors Affecting Point Cloud Registration for Bin Picking
  • J. Kim, H. Kim, J. Park
  • Computer Science
  • 2020 International Conference on Electronics, Information, and Communication (ICEIC)
  • 2020
Global Adaptive 4-Points Congruent Sets Registration for 3D Indoor Scenes With Robust Estimation
  • PDF
...
1
2
3
4
5
...

References

SHOWING 1-10 OF 34 REFERENCES
A Method for Registration of 3-D Shapes
  • P. Besl, N. McKay
  • Computer Science, Mathematics
  • IEEE Trans. Pattern Anal. Mach. Intell.
  • 1992
  • 15,036
  • Highly Influential
  • PDF
Fast Point Feature Histograms (FPFH) for 3D registration
  • 2,010
  • PDF
Efficient variants of the ICP algorithm
  • S. Rusinkiewicz, M. Levoy
  • Computer Science
  • Proceedings Third International Conference on 3-D Digital Imaging and Modeling
  • 2001
  • 3,649
  • PDF
Mapping with Micro Aerial Vehicles by Registration of Sparse 3D Laser Scans
  • 18
  • PDF
Object modelling by registration of multiple range images
  • 2,460
  • PDF
A Paradigm for Model Fitting with Applications to Image Analysis and Automated Cartography
  • 7,838
  • Highly Influential
Robust registration of 2D and 3D point sets
  • 553
Geometrically stable sampling for the ICP algorithm
  • 347
  • PDF
Generalized-ICP
  • 686
  • PDF
...
1
2
3
4
...