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2011
IEEE

Optimal Alignment of 3D Data for Spatial Discretization

7 years 6 months ago
Optimal Alignment of 3D Data for Spatial Discretization
—We present an algorithm that finds the rotation which best aligns a given configuration of directions on an unsorted set of directions. Using a cost function that we derive in the paper, we show that this algorithm efficiently finds the optimal coordinate frame for a given 3D data set in order to maximize the performance of axis-aligned bounding volumes such as octrees or occupancy grids with regard to the average storage or query cost. The optimization is independent from the initial orientation, since the whole space of rotations is explored. The evaluation becomes computationally feasible by using the Fourier transforms of spherical functions that describe the data as well as the cost function. Keywords-orientation estimation; bounding volumes; octrees; spherical harmonics
Benjamin Huhle, Timo Schairer, Andreas Schilling,
Added 18 Dec 2011
Updated 18 Dec 2011
Type Journal
Year 2011
Where CRV
Authors Benjamin Huhle, Timo Schairer, Andreas Schilling, Wolfgang Straßer
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