HSM3D 2012-12-02

Andrea Censi and Stefano Carpin. HSM3D: feature-less global 6DOF scan-matching in the Hough/Radon domain. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). Kobe, Japan, May 2009. pdfdoi supp. material slidesbibtex

Abstract -- This paper presents HSM3D, an algorithm for global rigid 6DOF alignment of 3D point clouds. The algorithm works by projecting the two input sets into the Radon/Hough domain, whose properties allow to decompose the 6DOF search into a series of fast one-dimensional cross-correlations. No planes or other particular features must be present in the input data, and the algorithm is provably complete in the case of noise-free input. The algorithm has been experimentally validated on publicly available data sets.

Example of HS

Please link here using the PURL: http://purl.org/censi/2008/hsm3d.