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A Review of Registration Methods on Mobile Robots
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Author(s): Vicente Morell-Gimenez (University of Alicante, Spain), Sergio Orts-Escolano (University of Alicante, Spain), José García-Rodríguez (University of Alicante, Spain), Miguel Cazorla (University of Alicante, Spain)and Diego Viejo (University of Alicante, Spain)
Copyright: 2013
Pages: 13
Source title:
Image Processing: Concepts, Methodologies, Tools, and Applications
Source Author(s)/Editor(s): Information Resources Management Association (USA)
DOI: 10.4018/978-1-4666-3994-2.ch029
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Abstract
The task of registering three dimensional data sets with rigid motions is a fundamental problem in many areas as computer vision, medical images, mobile robotic, arising whenever two or more 3D data sets must be aligned in a common coordinate system. In this chapter, the authors review registration methods. Focusing on mobile robots area, this chapter reviews the main registration methods in the literature. A possible classification could be distance-based and feature-based methods. The distance based methods, from which the classical Iterative Closest Point (ICP) is the most representative, have a lot of variations which obtain better results in situations where noise, time, or accuracy conditions are present. Feature based methods try to reduce the great number or points given by the current sensors using a combination of feature detector and descriptor which can be used to compute the final transformation with a method like RANSAC or Genetic Algorithms.
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