title: Enhanced ICP for the Registration of Large-Scale 3D Environment Models: An Experimental Study.
abstract: One of the main applications of mobile robots is the large-scale perception of the outdoor environment. One of the main challenges of this application is fusing environmental data obtained by multiple robots, especially heterogeneous robots. This paper proposes an enhanced iterative closest point (ICP) method for the fast and accurate registration of 3D environmental models. First, a hierarchical searching scheme is combined with the octree-based ICP algorithm. Second, an early-warning mechanism is used to perceive the local minimum problem. Third, a heuristic escape scheme based on sampled potential transformation vectors is used to avoid local minima and achieve optimal registration. Experiments involving one unmanned aerial vehicle and one unmanned surface vehicle were conducted to verify the proposed technique. The experimental results were compared with those of normal ICP registration algorithms to demonstrate the superior performance of the proposed method.
authors.affiliation: State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China. jdhan@sia.cn.
authors.forename: Jianda
authors.initials: J
authors.lastname: Han
authors.affiliation: State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China. yinpeng@sia.cn.|University of Chinese Academy of Sciences, Beijing 100049, China. yinpeng@sia.cn.
authors.forename: Peng
authors.initials: P
authors.lastname: Yin
authors.affiliation: State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China. heyuqing@sia.cn.
authors.forename: Yuqing
authors.initials: Y
authors.lastname: He
authors.affiliation: State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China. fenggu@sia.cn.
authors.forename: Feng
authors.initials: F
authors.lastname: Gu
keywords: 3D model registration; enhanced ICP; multiple heterogeneous mobile robots