Parallel RANSAC for point cloud registration

• Autorzy: Koguciuk D.

Identyfikatory

DOI

10.1515/fcds-2017-0010

• Języki publikacji: EN

Abstrakty

EN

In this paper, a project and implementation of the parallel RANSAC algorithm in CUDA architecture for point cloud registration are presented. At the beginning, a serial state of the art method with several heuristic improvements from the literature compared to basic RANSAC is introduced. Subsequently, its algorithmic parallelization and CUDA implementation details are discussed. The comparative test has proven a significant program execution acceleration. The result is finding of the local coordinate system of the object in the scene in the near real-time conditions. The source code is shared on the Internet as a part of the Heuros system.

Słowa kluczowe

EN

RGB-D; point clouds; registration; CUDA

• Wydawca: Wydawnictwo Politechniki Poznańskiej
• Czasopismo: Foundations of Computing and Decision Sciences
• Rocznik: 2017
• Tom: Vol. 42, No. 3
• Strony: 204--217
• Opis fizyczny: Bibliogr. 17 poz., fig., tab.

Twórcy

autor

Koguciuk D.

• Faculty of Mechatronics, Warsaw University of Technology, Warsaw, Poland

Bibliografia

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• [9] Heuros 3D object recognition system. https://bitbucket.org/rrgwut/heuros. Accessed: 04-05-2015.
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Uwagi

Opracowanie ze środków MNiSW w ramach umowy 812/P-DUN/2016 na działalność upowszechniającą naukę (zadania 2017).