Global Consistent Point Cloud Registration Based on Lie-algebraic Cohomology
Academy for Multidisciplinary Studies, Capital Normal University（首都师范大学交叉科学研究院）；Beijing Advanced Innovation Center for Imaging Theory and Technology, Capital Normal University（首都师范大学成像技术高精尖创新中心）；DUT-RU ISE, Dalian University of Technology（大连理工大学DUT-RU ISE）；State University of New York at Stony Brook（纽约州立大学石溪分校）
英文摘要：
We present a novel, effective method for global point cloud registration problems by geometric topology. Based on many point cloud pairwise registration methods (e.g ICP), we focus on the problem of accumulated error for the composition of transformations along any loops. The major technical contribution of this paper is a linear method for the elimination of errors, using only solving a Poisson equation. We demonstrate the consistency of our method from Hodge-Helmhotz decomposition theorem and experiments on multiple RGBD datasets of real-world scenes. The experimental results also demonstrate that our global registration method runs quickly and provides accurate reconstructions.
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