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
arXiv PDF paper

… 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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I apply innovative technologies like machine learning, computer vision, and physics to further an organization's goals. Am recognized innovator with 66 patents.