The DOI matches its Crossref record; 2 of the 2 references it cites were found in a registry or an index.
Cached k-d tree search for ICP algorithms
Abstract
The ICP (iterative closest point) algorithm is the de facto standard for geometric alignment of three-dimensional models when an initial relative pose estimate is available. The basis of ICP is the search for closest points. Since the development of ICP, k-d trees have been used to accelerate the search. This paper presents a novel search procedure, namely cached k-d trees, exploiting iterative behavior of the ICP algorithm. It results in a significant speedup of about 50% as we show in an evaluation using different data sets.
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Cites
A Comparison of Four Algorithms for Estimating 3-D Rigid Transformations.
Larusso, A., Eggert, D., & Fisher, R. (1995) · Procedings of the British Machine Vision Conference 1995 · doi:10.5244/c.9.24 · Cited by 141
Jost, T., & Hugli, H. (2004) · Fourth International Conference on 3-D Digital Imaging and Modeling, 2003. 3DIM 2003. Proceedings. · doi:10.1109/im.2003.1240278 · Cited by 124
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Rusu, R. B., Marton, Z. C., Blodow, N., Dolha, M., & Beetz, M. (2008) · Robotics and Autonomous Systems · doi:10.1016/j.robot.2008.08.005 · Cited by 1,084
A Review of Point Cloud Registration Algorithms for Mobile Robotics
Pomerleau, F., Colas, F., & Siegwart, R. (2015) · Foundations and Trends® in Robotics · doi:10.1561/2300000035 · Cited by 717
A Comparative Analysis of LiDAR SLAM-Based Indoor Navigation for Autonomous Vehicles
Zou, Q., Sun, Q., Chen, L., Nie, B., & Li, Q. (2022) · IEEE Transactions on Intelligent Transportation Systems · doi:10.1109/tits.2021.3063477 · Cited by 321
Real-time 3D registration using GPU
Park, S.-Y., Choi, S.-I., Kim, J., & Chae, J. S. (2011) · Machine Vision and Applications · doi:10.1007/s00138-010-0282-z · Cited by 28
Metadata
- Authors
- Nuchter, A., Lingemann, K., & Hertzberg, J.
- Venue
- Sixth International Conference on 3-D Digital Imaging and Modeling (3DIM 2007)
- Publisher
- IEEE
- Published
- 2007-08
- Pages
- 419-426
- ISSN
- 1550-6185 (ISSN-L)
- OpenAlex
- W2096877058
- Cited by
- 174
- References
- 2
- FWCI
- 12.10
- Type
- conference paper
- Language
- en
- Open access
- closed
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- Nuchter, A., Lingemann, K., & Hertzberg, J. (2007). Cached k-d tree search for ICP algorithms. Sixth International Conference on 3-D Digital Imaging and Modeling (3DIM 2007). https://doi.org/10.1109/3dim.2007.15
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Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
