TWOLATE: Total Registration of Point-Clouds Using a Weighted Optimal Linear Attitude and Translation Estimator

Qian, Duowen; Charland-Arcand, Guillaume; Forbes, James Richard

doi:10.1109/ccta41146.2020.9206167

Cited by 5 publications

(4 citation statements)

References 12 publications

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“…For the fine alignment step, this work uses the Weighted Optimal Linear Attitude and Translation Estimator (WOLATE) algorithm [46] within an ICP-based alignment scheme. Alignment errors are formulated between each point in the source cloud and their single nearest neighbour in the target cloud.…”

Section: ) Point Cloud Alignmentmentioning

confidence: 99%

Improving Self-Consistency in Underwater Mapping through Laser-Based Loop Closure (Extended)

Thomas¹,

Forbes²

2023

Preprint

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Accurate, self-consistent bathymetric maps are needed to monitor changes in subsea environments and infrastructure. These maps are increasingly collected by underwater vehicles, and mapping requires an accurate vehicle navigation solution. Commercial off-the-shelf (COTS) navigation solutions for underwater vehicles often rely on external acoustic sensors for localization, however survey-grade acoustic sensors are expensive to deploy and limit the range of the vehicle. Techniques from the field of simultaneous localization and mapping, particularly loop closures, can improve the quality of the navigation solution over dead-reckoning, but are difficult to integrate into COTS navigation systems. This work presents a method to improve the self-consistency of bathymetric maps by smoothly integrating loop-closure measurements into the state estimate produced by a commercial subsea navigation system. Integration is done using a white-noise-on-acceleration motion prior, without access to raw sensor measurements or proprietary models. Improvements in map self-consistency are shown for both simulated and experimental datasets, including a 3D scan of an underwater shipwreck

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Section: ) Point Cloud Alignmentmentioning

confidence: 99%

Improving Self-Consistency in Underwater Mapping through Laser-Based Loop Closure (Extended)

Thomas¹,

Forbes²

2023

Preprint

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“…3) Alternate Cayley Perturbation Solution: The previous section relied on using the infinitesimal expression for pose at each iteration. Here we take a slightly different strategy based on the Cayley transformation that is similar in spirit to that of [15,16,17,18,19,20]. We will refer to the resulting algorithm as CayPer.…”

Section: Pointcloud Alignmentmentioning

confidence: 99%

“…Here, we take a slightly different strategy based on the Cayley transformation that is similar in spirit to that of refs. [22][23][24][25][26][27]. We will refer to the resulting algorithm as CayPer.…”

Section: Alternate Cayley Perturbation Solutionmentioning

confidence: 99%

“…which requires only linear algebraic operations (e.g., no trigonometric functions). Notably, on the first iteration with T op = 1, the CayPer approach becomes a one-shot weighted optimal linear attitude and translation estimator [22][23][24][25][26][27] directly on SE (3). However, we can also continue to iterate to convergence of the original problem.…”

Section: Alternate Cayley Perturbation Solutionmentioning

confidence: 99%

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Vectorial parameterizations of pose

2021

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Robotics and computer vision problems commonly require handling rigid-body motions comprising translation and rotation – together referred to as pose. In some situations, a vectorial parameterization of pose can be useful, where elements of a vector space are surjectively mapped to a matrix Lie group. For example, these vectorial representations can be employed for optimization as well as uncertainty representation on groups. The most common mapping is the matrix exponential, which maps elements of a Lie algebra onto the associated Lie group. However, this choice is not unique. It has been previously shown how to characterize all such vectorial parameterizations for SO(3), the group of rotations. Some results are also known for the group of poses, where it is possible to build a family of vectorial mappings that includes the matrix exponential as well as the Cayley transformation. We extend what is known for these pose mappings to the $4 \times 4$ representation common in robotics and also demonstrate three different examples of the proposed pose mappings: (i) pose interpolation, (ii) pose servoing control, and (iii) pose estimation in a pointcloud alignment problem. In the pointcloud alignment problem, our results lead to a new algorithm based on the Cayley transformation, which we call CayPer.

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Performance Evaluation of 3D Keypoint Detectors and Descriptors on Coloured Point Clouds in Subsea Environments

Jung

Thomas

Forbes

2023

2023 IEEE International Conference on Robotics and Automation (ICRA)

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TWOLATE: Total Registration of Point-Clouds Using a Weighted Optimal Linear Attitude and Translation Estimator

Cited by 5 publications

References 12 publications

Improving Self-Consistency in Underwater Mapping through Laser-Based Loop Closure (Extended)

Improving Self-Consistency in Underwater Mapping through Laser-Based Loop Closure (Extended)

Vectorial parameterizations of pose

Performance Evaluation of 3D Keypoint Detectors and Descriptors on Coloured Point Clouds in Subsea Environments

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