Mr. Ryan Uhlenbrock Profile

Ryan Uhlenbrock

at HRL Labs LLC

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Proceedings Article | 6 September 2017 Paper

Rapid 3D registration using local subtree caching in iterative closest point (ICP) algorithm

Ryan Uhlenbrock, Kyungnam Kim, Heiko Hoffmann, Jean Dolne

Proceedings Volume 10410, 104100J (2017) https://doi.org/10.1117/12.2276428

KEYWORDS: Clouds

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This paper describes a method for continuous 3D registration of an object using a 3D sensor and model of the object, significantly speeding up an iterative alignment method by using a 2D array cache. The cache stores local subtrees in a kd-tree search to initialize the processing of subsequent data. The cache is spatially structured to match the projection of the 3D space into the sensor’s field of view, and automatically adapts when points cross discontinuities or occlusion boundaries. Experiments in a simulated 3D tracking and relative maneuvering scenario demonstrate the computational speedup benefits of local subtree caching.

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