Compression and registration of 3D point clouds using GMMs

3D data sensors provide an enormous amount of information. It is necessary to develop efficient methods to manage this information under certain time, bandwidth or storage space requirements. In this work, we propose a 3D compression and decompression method. This method also allows the use of the compressed data for a registration process. First, points are selected and grouped, using a 3D-model based on planar surfaces. Next, we use a fast variant of Gaussian Mixture Models and an Expectation-Maximization algorithm to replace the points grouped in the previous step with a set of Gaussian distributions. These learned models can be used as features to find matches between two consecutive poses and apply 3D pose registration using RANSAC. Finally, the 3D map can be obtained by decompressing the models.