Robust parameter estimation from point cloud data with noises for augmented reality

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	Robust parameter estimation from point cloud data with noises for augmented reality
	Zhang TH(张天浩); Wei YZ(魏英姿); Shi, Zhengjin ; Gu KF(谷侃锋)
	2017
会议名称	36th Chinese Control Conference, CCC 2017
会议日期	July 26-28, 2017
会议地点	Dalian, China
关键词	Point clouds Attitude estimation Model reconstruction Augmented reality Random sample consensus
页码	5247-5252
通讯作者	Wei YZ(魏英姿)
中文摘要	Allowing for a priori optimization of the robot manipulation to improve the performance in the unmanned environment, it is critical for the augmented reality system to estimate the attitude of point clouds in model reconstruction. The estimation of planar parameter is not always faithful for point cloud fitting, because the gross errors and outliers are not considered in by the traditional plane fitting methods. Our attempt is to combine the random sample consensus and the least-squares method to detect and eliminate the outliers of point clouds for the plane fitting. Optical 3D scanning system is applied for collecting the real data of point cloud from the planar sandpaper. After the preprocessing, the point clouds are imported into OpenGL for the 3D model reconstruction. The modeling process is depicted, too. The comparative simulation experimental results between our method and the traditional methods, such as least-squares and eigenvalue method, are provided. Moreover, our method is applied to the experiment of 3D laser scanning point cloud planes for the attitude estimation. The method is validated on both simulated data and real data. Competitive results show that our method has better robustness and accuracy, especially for the point clouds containing various errors and outliers.
收录类别	EI ; CPCI（ISTP）
产权排序	2
会议主办者	Dalian University of Technology; Systems Engineering Society of China (SESC); Technical Committee on Control Theory (TCCT), Chinese Association of Automation (CAA)
会议录	Proceedings of the 36th Chinese Control Conference, CCC 2017
会议录出版者	IEEE Computer Society
会议录出版地	Piscataway, NJ, USA
语种	英语
ISSN号	1934-1768
ISBN号	978-1-5386-2918-5
WOS记录号	WOS:000432014400122
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/21058]
专题	沈阳自动化研究所_装备制造技术研究室
作者单位	1.Shenyang Institute of Automation, Chinese Academy of Science, Shenyang, 110016, China 2.Shenyang Ligong University, School of Information Science and Engineering, Shenyang, 110159, China
推荐引用方式 GB/T 7714	Zhang TH,Wei YZ,Shi, Zhengjin,et al. Robust parameter estimation from point cloud data with noises for augmented reality[C]. 见:36th Chinese Control Conference, CCC 2017. Dalian, China. July 26-28, 2017.