HSM3D: feature-less global 6DOF scan-matching in the Hough/Radon domain

Authors:
Andrea Censi;Stefano Carpin
Affiliations:
Control & Dynamical Systems department, Division of Engineering and Applied Science, California Institute of Technology, Pasadena, CA;School of Engineering, University of California, Merced, CA
Venue:
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Year:
2009

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An experimental assessment of the HSM3D algorithm for sparse and colored data

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Abstract

This paper presents HSM3D, an algorithm for global rigid 6DOF alignment of 3D point clouds. The algorithm works by projecting the two input sets into the Radon/Hough domain, whose properties allow to decompose the 6DOF search into a series of fast one-dimensional cross-correlations. No planes or other particular features must be present in the input data, and the algorithm is provably complete in the case of noise-free input. The algorithm has been experimentally validated on publicly available data sets.