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GraphReg: Dynamical Point Cloud Registration With Geometry-Aware Graph Signal Processing
Zhao, Mingyang1,2; Ma, Lei1,3,4; Jia, Xiaohong5,6; Yan, Dong-Ming7,8; Huang, Tiejun9,10,11
2022
Source PublicationIEEE TRANSACTIONS ON IMAGE PROCESSING
ISSN1057-7149
Volume31Pages:7449-7464
AbstractThis study presents a high-accuracy, efficient, and physically induced method for 3D point cloud registration, which is the core of many important 3D vision problems. In contrast to existing physics-based methods that merely consider spatial point information and ignore surface geometry, we explore geometry aware rigid-body dynamics to regulate the particle (point) motion, which results in more precise and robust registration. Our proposed method consists of four major modules. First, we leverage the graph signal processing (GSP) framework to define a new signature, i.e., point response intensity for each point, by which we succeed in describing the local surface variation, resampling keypoints, and distinguishing different particles. Then, to address the shortcomings of current physics based approaches that are sensitive to outliers, we accommodate the defined point response intensity to median absolute deviation (MAD) in robust statistics and adopt the X84 principle for adaptive outlier depression, ensuring a robust and stable registration. Subsequently, we propose a novel geometric invariant under rigid transformations to incorporate higher-order features of point clouds, which is further embedded for force modeling to guide the correspondence between pairwise scans credibly. Finally, we introduce an adaptive simulated annealing (ASA) method to search for the global optimum and substantially accelerate the registration process. We perform comprehensive experiments to evaluate the proposed method on various datasets captured from range scanners to LiDAR. Results demonstrate that our proposed method outperforms representative state-of-the-art approaches in terms of accuracy and is more suitable for registering large-scale point clouds. Furthermore, it is considerably faster and more robust than most competitors. Our implementation is publicly available at https://github.com/zikail/GraphReg.
KeywordPoint cloud registration graph signal processing rigid dynamics robust statistics simulated annealing
DOI10.1109/TIP.2022.3223793
Indexed BySCI
Language英语
Funding ProjectNational Key Research and DevelopmentProgram of China[2020AAA0105200] ; NationalNatural Science of Foundation for Outstanding Young Scholars[12022117] ; CAS Project for Young Scientists in BasicResearch[YSBR-034] ; National Natural ScienceFoundation of China[61872354] ; National Natural ScienceFoundation of China[62172415] ; Open Research Fund Program of State key Laboratory ofHydroscience and Engineering, Tsinghua University[sklhse-2022-D-04]
WOS Research AreaComputer Science ; Engineering
WOS SubjectComputer Science, Artificial Intelligence ; Engineering, Electrical & Electronic
WOS IDWOS:000896645500002
PublisherIEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Citation statistics
Document Type期刊论文
Identifierhttp://ir.amss.ac.cn/handle/2S8OKBNM/60495
Collection中国科学院数学与系统科学研究院
Corresponding AuthorMa, Lei; Yan, Dong-Ming
Affiliation1.Beijing Acad Artificial Intelligence, Beijing 100190, Peoples R China
2.Chinese Acad Sci, Inst Automat, NLPR, Beijing 100190, Peoples R China
3.Inst Artificial Intelligence, Beijing 100190, Peoples R China
4.Peking Univ, Natl Biomed Imaging Ctr, Beijing 100871, Peoples R China
5.Chinese Acad Sci, Acad Math & Syst Sci, Beijing 100190, Peoples R China
6.UCAS, Sch Math Sci, Beijing 100149, Peoples R China
7.Chinese Acad Sci, Inst Automat, NLPR, Beijing 100864, Peoples R China
8.UCAS, Sch AI, Beijing 101408, Peoples R China
9.Peking Univ, Natl Engn Res Ctr Visual Technol, Sch Comp Sci, Beijing 100871, Peoples R China
10.Peking Univ, BAAI, Beijing 100871, Peoples R China
11.Peking Univ, Inst Artificial Intelligence, Beijing 100871, Peoples R China
Recommended Citation
GB/T 7714
Zhao, Mingyang,Ma, Lei,Jia, Xiaohong,et al. GraphReg: Dynamical Point Cloud Registration With Geometry-Aware Graph Signal Processing[J]. IEEE TRANSACTIONS ON IMAGE PROCESSING,2022,31:7449-7464.
APA Zhao, Mingyang,Ma, Lei,Jia, Xiaohong,Yan, Dong-Ming,&Huang, Tiejun.(2022).GraphReg: Dynamical Point Cloud Registration With Geometry-Aware Graph Signal Processing.IEEE TRANSACTIONS ON IMAGE PROCESSING,31,7449-7464.
MLA Zhao, Mingyang,et al."GraphReg: Dynamical Point Cloud Registration With Geometry-Aware Graph Signal Processing".IEEE TRANSACTIONS ON IMAGE PROCESSING 31(2022):7449-7464.
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