Discrete-time signal processing
Discrete-time signal processing
A Method for Registration of 3-D Shapes
IEEE Transactions on Pattern Analysis and Machine Intelligence - Special issue on interpretation of 3-D scenes—part II
Regular Article: Computing Fourier Transforms and Convolutions on the 2-Sphere
Advances in Applied Mathematics
IEEE Transactions on Pattern Analysis and Machine Intelligence
3D Mapping of Underwater Caves
IEEE Computer Graphics and Applications
A Frequency Domain Technique for Range Data Registration
IEEE Transactions on Pattern Analysis and Machine Intelligence
Registration of multiple acoustic range views for underwater scene reconstruction
Computer Vision and Image Understanding - Registration and fusion of range images
Using EM to Learn 3D Models of Indoor Environments with Mobile Robots
ICML '01 Proceedings of the Eighteenth International Conference on Machine Learning
Map Building and Localization for Underwater Navigation
ISER '00 Experimental Robotics VII
3D Mosaicing for Environment Reconstruction
ICPR '00 Proceedings of the International Conference on Pattern Recognition - Volume 3
Rotation Estimation from Spherical Images
ICPR '04 Proceedings of the Pattern Recognition, 17th International Conference on (ICPR'04) Volume 3 - Volume 03
Generating Realistic Images from Hydrothermal Plume Data
VIS '04 Proceedings of the conference on Visualization '04
Algebraically Accurate Volume Registration Using Euler's Theorem and the 3-D Pseudo-Polar FFT
CVPR '05 Proceedings of the 2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'05) - Volume 2 - Volume 02
Fully Automatic Registration of 3D Point Clouds
CVPR '06 Proceedings of the 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition - Volume 1
Efficient three-dimensional scene modeling and mosaicing
Journal of Field Robotics - Three-Dimensional Mapping, Part 1
Journal of Field Robotics - Three-Dimensional Mapping, Part 3
3-D terrain covering and map building algorithm for an AUV
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Probabilistic sonar scan matching for an AUV
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Fast registration based on noisy planes with unknown correspondences for 3-D mapping
IEEE Transactions on Robotics
Volume Registration Using the 3-D Pseudopolar Fourier Transform
IEEE Transactions on Signal Processing
Active planning for underwater inspection and the benefit of adaptivity
International Journal of Robotics Research
Three-dimensional coverage planning for an underwater inspection robot
International Journal of Robotics Research
Scan matching SLAM in underwater environments
Autonomous Robots
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3D mapping is very challenging in the underwater domain, especially due to the lack of high resolution, low noise sensors. A new spectral registration method is presented that can determine the spatial 6 DOF transformation between pairs of very noisy 3D scans with only partial overlap. The approach is hence suited to cope with sonar as the predominant underwater sensor. The spectral registration method is based on Phase Only Matched Filtering (POMF) on non-trivially resampled spectra of the 3D data.Two extensive sets of experiments are presented. First, evaluations with simulated data are done where the type and amount of noise can be controlled and the ground truth transformations between scans are known. Second, real world data from a Tritech Eclipse sonar is used. Concretely, 18 sonar scans of a large structure in form of a flood gate and a lock in the river Lesum in Bremen are used for 3D mapping. In doing so, the spectral registration method is compared to two other methods suited for noisy 3D registrations, namely Iterative Closest Point (ICP) and plane-based registration. It is shown that the spectral registration method performs very well in terms of the resulting 3D map as well as its run-times.