Title

Parallelized Iterative Closest Point for Autonomous Aerial Refueling

Document Type

Conference Proceeding

Publication Date

2016

Abstract

The Iterative Closest Point algorithm is a widely used approach to aligning the geometry between two 3 dimensional objects. The capability of aligning two geometries in real time on low-cost hardware will enable the creation of new applications in Computer Vision and Graphics. The execution time of many modern approaches are dominated by either the k nearest neighbor search (kNN) or the point alignment phase. This work presents an accelerated alignment variant which utilizes parallelization on a Graphics Processing Unit (GPU) of multiple kNN approaches augmented with a novel Delaunay Traversal to achieve real time estimates.

Comments

Copyright statement: © Springer International Publishing AG 2016.

The "Link to Full Text" button on this page loads the published article (the ‘version of record’), hosted at Springer. The publisher retains permissions to re-use and distribute this article.

DOI

10.1007/978-3-319-50835-1_53

Source Publication

Advances in Visual Computing. ISVC 2016 (LNCS 10072)

Share

COinS