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| 1 | Exploiting Robust Estimators in Phase Correlation of 3D Point Clouds for 6 DoF Pose Estimation显示文摘Point cloud registration is a fundamental task in both remote sensing,photogrammetry,and computer vision,which is to align multiple point clouds to the same coordinate frame.Especially in LiDAR odometry,by conducting the transformation between two adjacent scans,the pose of the platform can be estimated.To be specific,the goal is to recover the relative six-degree-of-freedom(6 DoF)pose between the source point cloud and the target point cloud.In this paper,we explore the use of robust estimators in the phase correlation when registering two point clouds,enabling a 6 DoF pose estimation between point clouds in a sub-voxel accuracy.The estimator is a rule for calculating an estimate of a given quantity based on observed data.A robust estimator is an estimation rule that is insensitive to nonnormality and can estimate parameters of a given objective function from noisy observations.The proposed registration method is theoretically insensitive to noise and outliers than correspondence-based methods.Three core steps are involved in the method:transforming point clouds from the spatial domain to the frequency domain,decoupling of rotations and translations,and using robust estimators to estimate phase shifts.Since the estimation of transformation parameters lies in the calculation of phase shifts,robust estimators play a vital role in shift estimation accuracy.In this paper,we have tested the performance of six different robust estimators and provide comparisons and discussions on the contributions of robust estimators in the 3D phase correlation.Different point clouds from two urban scenarios and one indoor scene are tested.Results validate the proposed method can reach performance that predominant rotation and translation errors reaching less than 0.5°and 0.5 m,respectively.Moreover,the performance of various tested robust estimators is compared and discussed. | Yusheng XU Rong HUANG Xiaohua TONG Uwe STILLA | 2021 | Journal of Geodesy and Geoinformation Science2021，4，3： | 3 |
| 2 | Activity and effective connectivity of parietal and occipital cortical regions during haptic shape perception 显示文摘 | Pehier S Stilla R Mariola E | 2007 | Neuropsychologia2007，45，3： | 1 |
| 3 | Automa- tic vehicle ex- traction from airborne LiDAR data of urban areas using Morphological Reconstruction 显示文摘 | Wei Yao Stefan Hinz Uwe Stilla | 2010 | Pattern Recognition Letters2010，，31： | 1 |
| 4 | Inhibition of natural killer cells through engagement of CD81 by the major hepatitis C virus envelope protein显示文摘 | Stilla A Wack A | 2002 | J Exp Med2002，195，： | 1 |
| 5 | Comparison of two methods for vehi- cle extraction from airbor-ne LiDAR data toward motion a- nalysis 显示文摘 | Wei Yao Uwe Stilla | 2011 | IEEE Geoscience and Remote Sensing Let- ters2011，，8： | 1 |
| 6 | Extraction of building polygons from SAR images: Grouping and decision-level in the GESTALT system显示文摘 | Eckart Michaelsen Uwe Stilla Uwe Soergel Leo Doktorski | 2009 | Pattern Recognition Letters2009，，10： | 1 |
| 7 | Road Network Extraction in VHR SAR Images of Urban and Suburban Areas by Means of Class-Aided Feature-Level Fusion显示文摘 | Karin Hedman Uwe Stilla Gianni Lisini | 2010 | IEEE transactions on geoscience and remote sensing2010，48，3： | 1 |
| 8 | Automatic vehicle detec tion in satellite images显示文摘 | J Leitlof/ S Hinz U Stilla | 2006 | International Archives of Photogrammetry Remote Sensing and Spatial Infor- mation Sciences2006，36，： | 1 |
| 9 | Hybrid GPU-based single-and double-bounce SAR simulation 显示文摘 | BALZ T STILLA U | 2009 | IEEE Transactions on Geoscienee and Remote Sensing2009，47，10： | 1 |
| 10 | Compressive sensing based layover separation in airborne single-pass multi-baseline InSAR data 显示文摘 | Sehmitt M Stilla U | 2013 | Geoscience and Remote Sensing Letters IEEE2013，10，2： | 1 |
| 11 | Simultaneous calibration of ALS systems and alignment of muhiview LiDAR scans of urban areas显示文摘 | Hebel Marcus Stilla Uwe | 2012 | IEEE Transactions on Geoseience and Remote Sensing2012，50，6： | 1 |
| 12 | Postconditioning with a CpG containing Oligodeoxynucleotide ameliorates myocardial infarction in a murine closed-chest model显示文摘 | Se-Chan Kim Shuijing Wu Xiangming Fang Jens Neumann Lars Eichhorn Grigorij Schleifer Olaf Boehm Rainer Meyer Stilla Frede Andreas Hoeft Georg Baumgarten Pascal Knuefermann | 2014 | Life Sciences2014，，： | 1 |
| 13 | Potential and Limits of InSAR Data for Building Reconstruction in Built-up Areas 显示文摘 | Stilla U Soergel U Thoennessen U | 2003 | ISPRS Journal of Photogrammetry and Remote Sensing2003，58，1： | 1 |
| 14 | Range determination with waveform recording laser systems using a Wiener Filter 显示文摘 | JUTZI B STILLA U | 2006 | ISPRS Journal of Photogrammetry and Remote Sensing2006，61，2： | 1 |
| 15 | A study of the static and dynamic adsorption of Zn (II) ions on carbon materials from aqueous solutions 显示文摘 | ALVAREZ-MERINO M A LOPEZ-RAMON L CARLOS MORENO-CA- STILLA | 2005 | Journal of Colloid and Inter- face Science2005，288，： | 1 |
| 16 | Tactile Discrimination of Grating Orientation : fMRI Activation Patterns 显示文摘 | ZHANG M MARIOLA E STILLA R | 2005 | Human Brain Mapping2005，25，： | 1 |
| 17 | Hybrid GPU based single- and double-bounce SAR simulation 显示文摘 | BALZ T STILLA U | 2009 | IEEE Transactions on Geoscience and Remote Sensing2009，47，10： | 1 |
| 18 | Car Detection in Aerial Thermal Images by Local and Global Evidence Accumulation 显示文摘 | Hinz S Stilla U | 2006 | Pattern Recognition Letters2006，27，4： | 1 |
| 19 | Automatic Vehicle Extraction from Airborne LiDAR Data of Urban Areas Aided by Geodesic Morphology 显示文摘 | Wei Y Hinz S Stilla U | 2010 | Pattera Recognition Letters2010，31，10： | 1 |
| 20 | Iterative processing of laser scanning data by full waveform analysis 显示文摘 | Kirchhof M Jutzi B Stilla U | 2008 | ISPRS Journal of Photogrammetry and Remote Sensing2008，63，1： | 1 |
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