Generalized n-Dimensional Rigid Registration : Theory and Applications

Research output: Journal Publications and ReviewsRGC 21 - Publication in refereed journalpeer-review

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Author(s)

  • Jin Wu
  • Miaomiao Wang
  • Hassen Fourati
  • Hui Li
  • Yilong Zhu
  • And 4 others
  • Chengxi Zhang
  • Yi Jiang
  • Xiangcheng Hu
  • Ming Liu

Related Research Unit(s)

Detail(s)

Original languageEnglish
Pages (from-to)927-940
Journal / PublicationIEEE Transactions on Cybernetics
Volume53
Issue number2
Online published4 May 2022
Publication statusPublished - Feb 2023

Abstract

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. © 2022 IEEE.

Research Area(s)

  • Covariance analysis, Covariance matrices, navigation, Optimization, point-cloud registration, Quaternions, rigid transformation, robotic perception, Rotation measurement, Singular value decomposition, Space vehicles, Uncertainty

Citation Format(s)

Generalized n-Dimensional Rigid Registration: Theory and Applications. / Wu, Jin; Wang, Miaomiao; Fourati, Hassen et al.
In: IEEE Transactions on Cybernetics, Vol. 53, No. 2, 02.2023, p. 927-940.

Research output: Journal Publications and ReviewsRGC 21 - Publication in refereed journalpeer-review