Matching 3D point clouds with lie algebra
Matching 3D point clouds with lie algebra
Global Consistent Point Cloud Registration Based on Lie-algebraic Cohomology
arXiv paper abstract https://arxiv.org/abs/2208.07103v1
arXiv PDF paper https://arxiv.org/pdf/2208.07103v1.pdf
… 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), … 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.
… demonstrate the consistency of … method from Hodge-Helmhotz decomposition theorem and experiments on multiple RGBD datasets of real-world scenes.
… demonstrate that … global registration method runs quickly and provides accurate reconstructions.
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