Efficient Closed-Loop Multiple-View Registration

doi:10.1109/TITS.2014.2319352

OPT OpenIR > 光谱成像技术研究室

	Efficient Closed-Loop Multiple-View Registration
	Shao, Xiaowei 1,2; Shi, Yun 3,4; Zhao, Huijing 5; Li, Xuelong6 ; Shibasaki, Ryosuke 4
作者部门	光学影像学习与分析中心
	2014-12-01
发表期刊	IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS
ISSN	1524-9050
卷号	15 期号:6 页码:2524-2538
产权排序	6
摘要	Registering multiple views is an essential and challenging problem for many intelligent transportation applications that employ a mobile sensing platform or consist of multiple stationary sensors. In this paper a novel algorithm is presented for multiple-view registration under a loop closure constraint. Different from most existing methods, which use general optimization techniques, our method studies the mechanism of adjusting the poses of views in a loop and provides a highly efficient and accurate solution. We prove that translation vectors can be decoupled if the same point set is used in each view to associate the previous and subsequent views, leading to our solution for such decouplable cases. If this condition does not hold, an exact solution of translation vectors is provided when rotation parameters are given, which results in our iterative solution for general cases by updating rotation and translation alternately. In our method, the effect of the accumulated pose error in a loop can be distributed to all views efficiently through loop factors, and only a few iterations are needed. Most important of all, in each iteration our method has linear computational complexity with respect to the number of views, which is much superior to that of state-of-the-art methods. A series of experiments was conducted, involving simulation of thousands of views and real vehicle-borne sensing data that include 65 371 point pairs in 352 views. Experimental results show that our proposed method is not only stable and highly efficient but also provides competitive accuracy relative to existing methods.
文章类型	Article
关键词	Loop Closure Matrix Exponentiated Gradient (Meg) Multiple-view Registration
WOS标题词	Science & Technology ; Technology
DOI	10.1109/TITS.2014.2319352
收录类别	SCI ; EI
关键词[WOS]	OUTDOOR ENVIRONMENTS ; DATA SETS ; SLAM ; GEOMETRY
语种	英语
WOS研究方向	Engineering ; Transportation
WOS类目	Engineering, Civil ; Engineering, Electrical & Electronic ; Transportation Science & Technology
WOS记录号	WOS:000345572900015
引用统计	被引频次：1[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.opt.ac.cn/handle/181661/22416
专题	光谱成像技术研究室
作者单位	1.Univ Tokyo, Earth Observat Data Integrat & Fusion Res Initiat, Tokyo 1138656, Japan 2.Chinese Acad Agr Sci, Inst Agr Resources & Reg Planning, Beijing 100081, Peoples R China 3.Chinese Acad Agr Sci, Inst Agr Resources & Reg Planning, Key Lab Agri Informat, Minist Agr, Beijing 100081, Peoples R China 4.Univ Tokyo, Ctr Spatial Informat Sci, Tokyo 1130033, Japan 5.Peking Univ, State Key Lab Machine Percept, Beijing 100871, Peoples R China 6.Chinese Acad Sci, Xian Inst Opt & Precis Mech, Ctr Opt Imagery Anal & Learning OPTIMAL, State Key Lab Transient Opt & Photon, Xian 710119, Peoples R China
推荐引用方式 GB/T 7714	Shao, Xiaowei,Shi, Yun,Zhao, Huijing,et al. Efficient Closed-Loop Multiple-View Registration[J]. IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS,2014,15(6):2524-2538.
APA	Shao, Xiaowei,Shi, Yun,Zhao, Huijing,Li, Xuelong,&Shibasaki, Ryosuke.(2014).Efficient Closed-Loop Multiple-View Registration.IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS,15(6),2524-2538.
MLA	Shao, Xiaowei,et al."Efficient Closed-Loop Multiple-View Registration".IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS 15.6(2014):2524-2538.

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