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Plane-based Accurate Registration of Real-world Point Clouds

Ketty Favre 1 Muriel Pressigout 1 Eric Marchand 2 Luce Morin 1
2 RAINBOW - Sensor-based and interactive robotics
Inria Rennes – Bretagne Atlantique , IRISA-D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE
Abstract : Traditional 3D point clouds registration algorithms, based on Iterative Closest Point (ICP), rely on point matching of large point clouds. In well-structured environments, such as buildings, planes can be segmented and used for registration, similarly to the classical point-based ICP approach. Using planes tremendously reduces the number of inputs. In this article, an efficient plane-based registration algorithm is presented. The optimal transformation is estimated through a two-step approach, successively performing robust plane-toplane minimization and non-linear robust point-to-plane registration. Experiments on the Autonomous Systems Lab (ASL) benchmark dataset show that the proposed method enables to successfully register 100% of the scans from the three indoor sequences. Experiments also show that the proposed method is robust in large motion scenarios and more accurate than other state-of-the-art algorithms. Moreover, a new challenging dataset, LOOP'IN, is provided. It is composed of two loops in real-world indoor scenes, with a large number of scans captured with a 3D LiDAR. Tests led on this dataset show that the algorithm is able to register long sequences, to close loops and to build an incremental map of the explored environment.
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https://hal.inria.fr/hal-03329646
Contributor : Eric Marchand Connect in order to contact the contributor
Submitted on : Tuesday, August 31, 2021 - 10:38:31 AM
Last modification on : Tuesday, October 19, 2021 - 10:36:38 PM

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  • HAL Id : hal-03329646, version 1
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Ketty Favre, Muriel Pressigout, Eric Marchand, Luce Morin. Plane-based Accurate Registration of Real-world Point Clouds. SMC 2021 - IEEE International Conference on Systems, Man, and Cybernetics, Oct 2021, Melbourne / Virtual, Australia. pp.1-6. ⟨hal-03329646⟩

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