Tools for 3D point cloud registration

In this thesis, we did an in-depth review of the state of the art of 3D registration, evaluating the most popular methods. Given the lack of standardization in the literature, we also proposed a nomenclature and a classification to unify the evaluation systems and to be able to compare the different algorithms under the same criteria. The major contribution of the thesis is the Registration Toolbox, which consists of software and a database of 3D models. The software presented here consists of a 3D Registration Pipeline written in C ++ that allows researchers to try different methods, as well as add new ones and compare them. In this Pipeline, we not only implemented the most popular methods of literature, but we also added three new methods that contribute to improving the state of the art. On the other hand, the database provides different 3D models to be able to carry out the tests to validate the performances of the methods. Finally, we presented a new hybrid data structure specially focused on the search for neighbors. We tested our proposal together with other data structures and we obtained very satisfactory results, overcoming in many cases the best current alternatives. All tested structures are also available in our Pipeline. This Toolbox is intended to be a useful tool for the whole community and is available to researchers under a Creative Commons license ​
​L'accés als continguts d'aquesta tesi queda condicionat a l'acceptació de les condicions d'ús establertes per la següent llicència Creative Commons: