title: Spectral 6DOF registration of noisy 3D range data with partial overlap.
abstract: We present Spectral Registration with Multilayer Resampling (SRMR) as a 6 Degrees Of Freedom (DOF) registration method for noisy 3D data with partial overlap. The algorithm is based on decoupling 3D rotation from 3D translation by a corresponding resampling process of the spectral magnitude of a 3D Fast Fourier Transform (FFT) calculation on discretized 3D range data. The registration of all 6DOF is then subsequently carried out with spectral registrations using Phase Only Matched Filtering (POMF). There are two main aspects for the fast and robust registration of Euler angles from spherical information in SRMR. First of all, there is the permanent use of phase matching. Second, based on the FFT on a discrete Cartesian grid, not only one spherical layer but also a complete stack of layers are processed in one step. Experiments are presented with challenging datasets with respect to interference and overlap. The results include the fast and robust registration of artificially transformed data for ground-truth comparison, scans from the Stanford Bunny dataset, high end 3D laser range finder (LRF) scans of a city center, and range data from a low-cost actuated LRF in a disaster response scenario.
authors.affiliation: School of Engineering and Science, Jacobs University Bremen, 28759 Bremen, Germany. h.buelow@jacobs-university.de
authors.forename: Heiko
authors.initials: H
authors.lastname: Bülow
authors.forename: Andreas
authors.initials: A
authors.lastname: Birk
mesh_terms: D000465:Algorithms; D000818:Animals; D003196:Computer Graphics; D016208:Databases, Factual; D006801:Humans; D021621:Imaging, Three-Dimensional / Q000379:methods*; D008279:Magnetic Resonance Imaging; D059906:Neuroimaging; D011817:Rabbits; D012984:Software