Lines to Planes Registration

Ales Jelinek, Adam Ligocki

2019

Abstract

This paper deals with the Line-Plane registration problem. First we introduce the matter of geometrical object fitting and show the specificity of the Line-Plane combination. Then the method is derived to fulfil all usual demands we put on a registration algorithm. Our algorithm works on any number of corresponding Line-Plane pairs higher than three, providing more accurate results and better convergence, as this number gets higher. Although the computation is non-linear by its nature, benefits of the least squares optimization were preserved. The algorithm is divided into a linear part dependant on the amount of input data and a non-linear part, which is not, keeping efficiency in case of large data sets. All important features were experimentally tested and proved to work.

Paper Citation

in Harvard Style

Jelinek A. and Ligocki A. (2019). Lines to Planes Registration.In Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-380-3, pages 625-632. DOI: 10.5220/0007834906250632

in Bibtex Style

@conference{icinco19,
author={Ales Jelinek and Adam Ligocki},
title={Lines to Planes Registration},
booktitle={Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2019},
pages={625-632},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0007834906250632},
isbn={978-989-758-380-3},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Lines to Planes Registration
SN - 978-989-758-380-3
AU - Jelinek A.
AU - Ligocki A.
PY - 2019
SP - 625
EP - 632
DO - 10.5220/0007834906250632