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Generalized n-Dimensional Rigid Registration: Theory and Applications
- Source :
- IEEE Transactions on Cybernetics, IEEE Transactions on Cybernetics, 2023, 53 (2), pp.927-940. ⟨10.1109/tcyb.2022.3168938⟩
- Publication Year :
- 2023
- Publisher :
- Institute of Electrical and Electronics Engineers (IEEE), 2023.
-
Abstract
- International audience; The generalized rigid registration problem in high-dimensional Euclidean spaces is studied. The loss function is minimized with an equivalent error formulation by the Cayley formula. The closed-form linear least-square solution to such a problem is derived which generates the registration covariances, i.e., uncertainty information of rotation and translation, providing quite accurate probabilistic descriptions. Simulation results indicate the correctness of the proposed method and also present its efficiency on computation-time consumption, compared with previous algorithms using singular value decomposition (SVD) and linear matrix inequality (LMI). The proposed scheme is then applied to an interpolation problem on the special Euclidean group SE(n) with covariance-preserving functionality. Finally, experiments on covariance-aided Lidar mapping show practical superiority in robotic navigation.
- Subjects :
- Optimization
Rotation measurement
Covariance matrices
Uncertainty
Singular value decomposition
Space vehicles
[SPI.AUTO]Engineering Sciences [physics]/Automatic
Computer Science Applications
Human-Computer Interaction
Control and Systems Engineering
Quaternions
Electrical and Electronic Engineering
ComputingMilieux_MISCELLANEOUS
Software
Information Systems
Subjects
Details
- ISSN :
- 21682275 and 21682267
- Volume :
- 53
- Database :
- OpenAIRE
- Journal :
- IEEE Transactions on Cybernetics
- Accession number :
- edsair.doi.dedup.....c822546f10a83b9d489d9122386f8519