This paper presents a mutual information (MI) based algorithm for the estimation of full 6-degree-of-freedom (DOF) rigid body transformation between two overlapping point clouds. We first divide the scene into a 3D voxel grid and define simple to compute features for each voxel in the scan. The two scans that need to be aligned are considered as a collection of these features and the MI between these voxelized features is maximized to obtain the correct alignment of scans. We have implemented our method with various simple point cloud features (such as number of points in voxel, variance of z-height in voxel) and compared the performance of the proposed method with existing point-to-point and point-to-distribution registration methods. We show that our approach has an efficient and fast parallel implementation on GPU, and evaluate the robustness and speed of the proposed algorithm on two real-world datasets which have variety of dynamic scenes from different environments.
The proposed method is closely related to FPFH @cite_25 mainly because we use mutual information to compute the registration parameters. However, the feature selection and histogram creation method is different. In @cite_25 high dimensional features are computed using FPFH which are then quantized into one of the precomputed codewords. There is no denying that FPFH are better descriptors of a scan than simple voxelized features like z-variance, but in a MI based framework, we don't need to find correspondences between patches, therefore computing FPFH only increases the run-time complexity due to nearest neighbor search and normal computation at each point. Moreover, unlike voxelized features, FPFH fails to take into account the empty region in the scan.
@cite_25
2001613026
In our recent work [1], [2], we proposed Point Feature Histograms (PFH) as robust multi-dimensional features which describe the local geometry around a point p for 3D point cloud datasets. In this paper, we modify their mathematical expressions and perform a rigorous analysis on their robustness and complexity for the problem of 3D registration for overlapping point cloud views. More concretely, we present several optimizations that reduce their computation times drastically by either caching previously computed values or by revising their theoretical formulations. The latter results in a new type of local features, called Fast Point Feature Histograms (FPFH), which retain most of the discriminative power of the PFH. Moreover, we propose an algorithm for the online computation of FPFH features for realtime applications. To validate our results we demonstrate their efficiency for 3D registration and propose a new sample consensus based method for bringing two datasets into the convergence basin of a local non-linear optimizer: SAC-IA (SAmple Consensus Initial Alignment). This paper reports a novel mutual information (MI) based algorithm for automatic registration of unstructured 3D point clouds comprised of co-registered 3D lidar and camera imagery. The proposed method provides a robust and principled framework for fusing the complementary information obtained from these two different sensing modalities. High-dimensional features are extracted from a training set of textured point clouds (scans) and hierarchical k-means clustering is used to quantize these features into a set of codewords. Using this codebook, any new scan can be represented as a collection of codewords. Under the correct rigid-body transformation aligning two overlapping scans, the MI between the codewords present in the scans is maximized. We apply a James-Stein-type shrinkage estimator to estimate the true MI from the marginal and joint histograms of the codewords extracted from the scans. Experimental results using scans obtained by a vehicle equipped with a 3D laser scanner and an omnidirectional camera are used to validate the robustness of the proposed algorithm over a wide range of initial conditions. We also show that the proposed method works well with 3D data alone. This paper proposes a novel 3D scene interpretation approach for robots in mobile manipulation scenarios using a set of 3D point features (Fast Point Feature Histograms) and probabilistic graphical methods (Conditional Random Fields). Our system uses real time stereo with textured light to obtain dense depth maps in the robot's manipulators working space. For the purposes of manipulation, we want to interpret the planar supporting surfaces of the scene, recognize and segment the object classes into their primitive parts in 6 degrees of freedom (6DOF) so that the robot knows what it is attempting to use and where it may be handled. The scene interpretation algorithm uses a two-layer classification scheme: i) we estimate Fast Point Feature Histograms (FPFH) as local 3D point features to segment the objects of interest into geometric primitives; and ii) we learn and categorize object classes using a novel Global Fast Point Feature Histogram (GFPFH) scheme which uses the previously estimated primitives at each point. To show the validity of our approach, we analyze the proposed system for the problem of recognizing the object class of 20 objects in 500 table settings scenarios. Our algorithm identifies the planar surfaces, decomposes the scene and objects into geometric primitives with 98.27 accuracy and uses the geometric primitives to identify the object's class with an accuracy of 96.69 . Nearest Neighbor (NN) search in high dimension is an important feature in many applications (e.g., image retrieval, multimedia databases). Product Quantization (PQ) is a widely used solution which offers high performance, i.e., low response time while preserving a high accuracy. PQ represents high-dimensional vectors (e.g., image descriptors) by compact codes. Hence, very large databases can be stored in memory, allowing NN queries without resorting to slow I O operations. PQ computes distances to neighbors using cache-resident lookup tables, thus its performance remains limited by (i) the many cache accesses that the algorithm requires, and (ii) its inability to leverage SIMD instructions available on modern CPUs. In this paper, we advocate that cache locality is not sufficient for efficiency. To address these limitations, we design a novel algorithm, PQ Fast Scan, that transforms the cache-resident lookup tables into small tables, sized to fit SIMD registers. This transformation allows (i) in-register lookups in place of cache accesses and (ii) an efficient SIMD implementation. PQ Fast Scan has the exact same accuracy as PQ, while having 4 to 6 times lower response time (e.g., for 25 million vectors, scan time is reduced from 74ms to 13ms).