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Transformation Decoupling Strategy based on Screw Theory for Deterministic Point Cloud Registration with Gravity Prior. (arXiv:2311.01432v1 [cs.CV])
cs.CV updates on arXiv.org arxiv.org
Point cloud registration is challenging in the presence of heavy outlier
correspondences. This paper focuses on addressing the robust
correspondence-based registration problem with gravity prior that often arises
in practice. The gravity directions are typically obtained by inertial
measurement units (IMUs) and can reduce the degree of freedom (DOF) of rotation
from 3 to 1. We propose a novel transformation decoupling strategy by
leveraging screw theory. This strategy decomposes the original 4-DOF problem
into three sub-problems with 1-DOF, 2-DOF, and …
arxiv cloud gravity measurement outlier paper practice prior registration strategy theory transformation units