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2009
IEEE

Fast Point Feature Histograms (FPFH) for 3D registration

10 years 7 months ago
Fast Point Feature Histograms (FPFH) for 3D registration
— In our recent work [1], [2], we proposed Point Feature Histograms (PFH) as robust multi-dimensional features which describe the local geometry around a point p for 3D point cloud datasets. In this paper, we modify their mathematical expressions and perform a rigorous analysis on their robustness and complexity for the problem of 3D registration for overlapping point cloud views. More concretely, we present several optimizations that reduce their computation times drastically by either caching previously computed values or by revising their theoretical formulations. The latter results in a new type of local features, called Fast Point Feature Histograms (FPFH), which retain most of the discriminative power of the PFH. Moreover, we propose an algorithm for the online computation of FPFH features for realtime applications. To validate our results we demonstrate their efficiency for 3D registration and propose a new sample consensus based method for bringing two datasets into the conv...
Radu Bogdan Rusu, Nico Blodow, Michael Beetz
Added 23 May 2010
Updated 23 May 2010
Type Conference
Year 2009
Where ICRA
Authors Radu Bogdan Rusu, Nico Blodow, Michael Beetz
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