| Summary: | 博士 === 國立暨南國際大學 === 資訊工程學系 === 101 === This dissertation presents new methods for the relaxation of 3-D/2-D global registration error. The 3-D/2-D global registration problem is represented using a graph. Each node and each edge in the graph represents a 3-D/2-D data set and a pairwise registration, respectively. Assuming that all the pairwise registration processes have converged to fine results, this dissertation shows that the 3-D/2-D global registration problem can be converted into a quadratic programming problem of Lie algebra parameters. The constraints are obtained from every cycle of the graph to eliminate the accumulation errors of global registration. Linear solutions are proposed to distribute the accumulation error to proper positions in the graph, as specified by the quadratic model of 3-D/2-D data set. Since the proposed method does not involve the original 3-D/2-D data, it has low time and space complexity. Additionally, the proposed method can be embedded into a trust-region algorithm, and thus can correctly handle the nonlinear
effects of large accumulation errors, while preserving the global convergence property to the first-order critical point. Experimental results confirm both the efficiency and the accuracy of the proposed methods.
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