On-Line data registration in OUTDOOR environment

被引：0

作者：

Bedkowski, Janusz ^{[1
]}

Maslowski, Andrzej ^{[1
]}

机构：

[1] Warsaw Univ Technol, Inst Automat & Robot, Warsaw, Poland

来源：

2011 16TH INTERNATIONAL CONFERENCE ON METHODS AND MODELS IN AUTOMATION AND ROBOTICS | 2011年

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In the paper an algorithm of 3D data registration based on CUDA implementation is shown. The research is related to the problem of collecting 3D data with laser measurement system mounted on rotated head, to be used in mobile robot applications. Assumed performance of data registration algorithm is achieved, therefore it can used as On-line. The ICP (Iterative Closest Point) approach is chosen as registration method. Computation is based on massively parallel architecture of NVIDIA CUDA. The presented concept of 3D data matching is based on parallel computation used for fast nearest neighbor search. Nearest neighbor search procedure is using 3D space decomposition into cubic buckets, therefore the time of matching is deterministic.

引用

页码：266 / 271

页数：6

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