Lines to Planes Registration
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This paper deals with the Line-Plane registration problem. First we introduce the matter of geometrical object fitting and show the specificity of the Line-Plane combination. Then the method is derived to fulfill all usual demands we put on a registration algorithm. Our algorithm works on any number of corresponding Line-Plane pairs higher than three, providing more accurate results and better convergence, as this number gets higher. Although the computation is non-linear by its nature, benefits of the least squares optimization were preserved. The algorithm is divided into linear part dependant on the amount of input data and a non-linear part, which is not, keeping efficiency in case of large data sets. All important features were experimentally tested and proved to work.
KeywordsLine, Plane, Registration, Least Squares, Optimization, Rigid Transformation, Data Fitting
Document typePeer reviewed
Document versionFinal PDF
SourceProceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO. 2019, p. 625-632.