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Sensors 2016, 16(2), 228;

Enhanced ICP for the Registration of Large-Scale 3D Environment Models: An Experimental Study

1,2,* , 1,* and 1
State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
University of Chinese Academy of Sciences, Beijing 100049, China
Authors to whom correspondence should be addressed.
Academic Editors: Ning Xi, Wen Jung Li, Xin Zhao and Yajing Shen
Received: 20 November 2015 / Revised: 19 January 2016 / Accepted: 19 January 2016 / Published: 15 February 2016
(This article belongs to the Special Issue Sensors for Robots)
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One of the main applications of mobile robots is the large-scale perception of the outdoor environment. One of the main challenges of this application is fusing environmental data obtained by multiple robots, especially heterogeneous robots. This paper proposes an enhanced iterative closest point (ICP) method for the fast and accurate registration of 3D environmental models. First, a hierarchical searching scheme is combined with the octree-based ICP algorithm. Second, an early-warning mechanism is used to perceive the local minimum problem. Third, a heuristic escape scheme based on sampled potential transformation vectors is used to avoid local minima and achieve optimal registration. Experiments involving one unmanned aerial vehicle and one unmanned surface vehicle were conducted to verify the proposed technique. The experimental results were compared with those of normal ICP registration algorithms to demonstrate the superior performance of the proposed method. View Full-Text
Keywords: 3D model registration; multiple heterogeneous mobile robots; enhanced ICP 3D model registration; multiple heterogeneous mobile robots; enhanced ICP

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Han, J.; Yin, P.; He, Y.; Gu, F. Enhanced ICP for the Registration of Large-Scale 3D Environment Models: An Experimental Study. Sensors 2016, 16, 228.

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