Abstract
For real-time and accurate three-dimensional (3D) reconstruction during autonomous mobile robot navigation, a method based on the combination of iterative closest points (ICP) and artificial potential field algorithm (APF) is proposed. In real-time path planning, the mobile robot uses the artificial potential field method to obtain the environment point-cloud image by Kinect. Then, the combination of the improved ICP method and the initial transformation matrix is applied to complete the 3D reconstruction. The experimental results show that the proposed algorithm is more efficient than normal distributions transform (NDT) and the traditional three-dimensional ICP method.
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Acknowledgements
This paper was partially supported by The National Natural Science Foundation (61374040, 61503205).
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Fang, B., Wang, C. (2018). A 3D Reconstruction Method Based on the Combination of the ICP and Artificial Potential Field Algorithm. In: Jia, Y., Du, J., Zhang, W. (eds) Proceedings of 2017 Chinese Intelligent Systems Conference. CISC 2017. Lecture Notes in Electrical Engineering, vol 459. Springer, Singapore. https://doi.org/10.1007/978-981-10-6496-8_45
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DOI: https://doi.org/10.1007/978-981-10-6496-8_45
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