Parallelized Iterative Closest Point for Autonomous Aerial Refueling

  • Jace Robinson
  • Matt Piekenbrock
  • Lee Burchett
  • Scott Nykl
  • Brian Woolley
  • Andrew Terzuoli
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 10072)

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.

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Copyright information

© Springer International Publishing AG 2016

Authors and Affiliations

  • Jace Robinson
    • 1
  • Matt Piekenbrock
    • 1
  • Lee Burchett
    • 1
  • Scott Nykl
    • 1
  • Brian Woolley
    • 1
  • Andrew Terzuoli
    • 1
  1. 1.Air Force Institute of TechnologyWright-PattersonUSA

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