Print Email Facebook Twitter PLADE Title PLADE: A Plane-Based Descriptor for Point Cloud Registration with Small Overlap Author Chen, Songlin (King Abdullah University of Science and Technology; Chinese Academy of Sciences) Nan, L. (TU Delft Urban Data Science) Xia, Renbo (Chinese Academy of Sciences) Zhao, Jibin (Chinese Academy of Sciences) Wonka, Peter (King Abdullah University of Science and Technology) Date 2020 Abstract Traditional point cloud registration methods require large overlap between scans, which imposes strict constraints on data acquisition. To facilitate registration, users have to carefully position scanners to ensure sufficient overlap. In this article, we propose to use high-level structural information (i.e., plane/line features and their interrelationship) for registration, which is capable of registering point clouds with small overlap, allowing more freedom in data acquisition. We design a novel plane-/line-based descriptor dedicated to establishing structure-level correspondences between point clouds. Based on this descriptor, we propose a simple but effective registration algorithm. We also provide a data set of real-world scenes containing a larger number of scans with a wide range of overlap. Experiments and comparisons with state-of-the-art methods on various data sets reveal that our method is superior to existing techniques. Though the proposed algorithm outperforms state-of-the-art methods on the most challenging data set, the point cloud registration problem is still far from being solved, leaving significant room for improvement and future work. Subject Data setdescriptorpoint cloudregistrationscanning To reference this document use: http://resolver.tudelft.nl/uuid:e1a246c7-094f-4d05-8027-70d7eab09228 DOI https://doi.org/10.1109/TGRS.2019.2952086 Embargo date 2020-06-18 ISSN 0196-2892 Source IEEE Transactions on Geoscience and Remote Sensing, 58 (4), 2530-2540 Bibliographical note Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public. Part of collection Institutional Repository Document type journal article Rights © 2020 Songlin Chen, L. Nan, Renbo Xia, Jibin Zhao, Peter Wonka Files PDF 08936527.pdf 9.58 MB Close viewer /islandora/object/uuid:e1a246c7-094f-4d05-8027-70d7eab09228/datastream/OBJ/view