Registration of Six Degrees of Freedom Data with Proper Handling of Positional and Rotational Noise.

IF 1.5 4区 工程技术
Marek Franaszek
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引用次数: 1

Abstract

When two six degrees of freedom (6DOF) datasets are registered, a transformation is sought that minimizes the misalignment between the two datasets. Commonly, the measure of misalignment is the sum of the positional and rotational components. This measure has a dimensional mismatch between the positional component (unbounded and having length units) and the rotational component (bounded and dimensionless). The mismatch can be formally corrected by dividing the positional component by some scale factor with units of length. However, the scale factor is set arbitrarily and, depending on its value, more or less importance is associated with the positional component relative to the rotational component. This may result in a poorer registration. In this paper, a new method is introduced that uses the same form of bounded, dimensionless measure of misalignment for both components. Numerical simulations with a wide range of variances of positional and rotational noise show that the transformation obtained by this method is very close to ground truth. Additionally, knowledge of the contribution of noise to the misalignment from individual components enables the formulation of a rational method to handle noise in 6DOF data.

Abstract Image

Abstract Image

Abstract Image

正确处理位置和旋转噪声的六自由度数据的配准。
当注册两个六自由度(6DOF)数据集时,寻求一种将两个数据集之间的不对齐最小化的转换。通常,不对准的测量是位置分量和旋转分量的总和。该度量在位置分量(无界且具有长度单位)和旋转分量(有界且无量纲)之间存在尺寸不匹配。通过将位置分量除以以长度为单位的尺度因子,可以对不匹配进行正式修正。然而,比例因子是任意设置的,并且根据其值,相对于旋转分量,位置分量的重要性或多或少是相关的。这可能导致较差的注册。本文介绍了一种新的方法,该方法对两个部件使用相同形式的有界无量纲测量偏差。数值模拟表明,在位置噪声和旋转噪声变化范围较大的情况下,该方法得到的变换非常接近地面真实值。此外,了解噪声对各个分量的不对准的贡献,可以制定合理的方法来处理6DOF数据中的噪声。
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来源期刊
自引率
33.30%
发文量
10
期刊介绍: The Journal of Research of the National Institute of Standards and Technology is the flagship publication of the National Institute of Standards and Technology. It has been published under various titles and forms since 1904, with its roots as Scientific Papers issued as the Bulletin of the Bureau of Standards. In 1928, the Scientific Papers were combined with Technologic Papers, which reported results of investigations of material and methods of testing. This new publication was titled the Bureau of Standards Journal of Research. The Journal of Research of NIST reports NIST research and development in metrology and related fields of physical science, engineering, applied mathematics, statistics, biotechnology, information technology.
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