Matching 3D point clouds with lie algebra
Matching 3D point clouds with lie algebra
Global Consistent Point Cloud Registration Based on Lie-algebraic Cohomology
arXiv paper abstract https://arxiv.org/abs/2208.07103v1
arXiv PDF paper https://arxiv.org/pdf/2208.07103v1.pdf
... present a novel, effective method for global point cloud registration problems by geometric topology.
Based on many point cloud pairwise registration methods (e.g ICP), ... focus on the problem of accumulated error for the composition of transformations along any loops.
The major technical contribution of this paper is a linear method for the elimination of errors, using only solving a Poisson equation.
... demonstrate the consistency of ... method from Hodge-Helmhotz decomposition theorem and experiments on multiple RGBD datasets of real-world scenes.
... demonstrate that ... global registration method runs quickly and provides accurate reconstructions.
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