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Open Access

A Local Reference Frame Construction Method Based on the Signed Surface Variation

Xiaopeng YAN1, Wei ZHOU1( ), Rencan PENG2, Wenliang PAN1, Lei WANG1, Guoxin HU1
The P.L.A. 91550 Unit, Dalian 116023, China
Department of Military Oceanography and Hydrography & Cartography,Dalian Naval Academy,Dalian 116018,China
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Abstract

A fast local reference frame (LRF) construction method based on the signed surface variation is proposed, which can adapt to the real-time applications such as self-driving, face recognition, object detection. The z-axis of the LRF is generated based on the concavity of the local surface of keypoint. The x-axis is constructed by the weighted vector sum of a set of projection vectors of the local neighborhoods around keypoint. The performance of the proposed LRF is evaluated on six standard datasets and compared with six state-of-the-art LRF construction methods (e.g., BOARD, FLARE, SHOT, RoPS and TOLDI). Experimental results validate the high repeatability, robustness, universality and time efficiency of our method.

Keywords

feature extractionpoint cloudsigned surface variationlocal reference frame

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Journal of Geodesy and Geoinformation Science
Volume 4 Issue 3,
September 2021
Pages 25-37
DOI: 10.11947/j.JGGS.2021.0303
Cite this article:
YAN X, ZHOU W, PENG R, et al. A Local Reference Frame Construction Method Based on the Signed Surface Variation. Journal of Geodesy and Geoinformation Science, 2021, 4(3): 25-37. https://doi.org/10.11947/j.JGGS.2021.0303

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Received: 15 September 2020
Accepted: 15 January 2021
Published: 20 September 2021
© 2021 Journal of Geodesy and Geoinformation Science
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