ICRA 2011 Paper Abstract


Paper WeA204.1

Buelow, Heiko (Jacobs University), Birk, Andreas (Jacobs University)

Spectral Registration of Volume Data for 6-DOF Spatial Transformations Plus Scale

Scheduled for presentation during the Regular Sessions "Range Sensing II" (WeA204), Wednesday, May 11, 2011, 10:05−10:20, Room 3E

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on July 5, 2020

Keywords Range Sensing


This paper presents a robust spectral based 6 Degrees Of Freedoms (DOF) registration method for 3D data which is in addition capable to determine the scaling of the registered object. The principle is based on decoupling 3D rotation from 3D translation by a corresponding resampling process of the spectral magnitude using a 3D Fast Fourier Transform (FFT), a $SO(3)$ Fourier transform and an integrated Mellin transform for a scale determination. The registration is then subsequently carried out, first the registration of rotation is done, in a second step the scale is determined and finally the translation is calculated. Results are presented with generated test series on public available data and data recorded with Laser Range Finders (LRF).



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