A Robust Probability-based Joint Registration Method of Multiple Point Clouds Considering Local Consistency

In robotic inspection, joint registration of multiple point clouds is an essential technique for estimating the transformation relationships between measured parts, such as multiple blades in a propeller. However, the presence of noise and outliers in the data can significantly impair the registration performance by affecting the correctness of correspondences. To address this issue, we incorporate local consistency property into the probability-based joint registration method. Specifically, each measured point set is treated as a sample from an unknown Gaussian Mixture Model (GMM), and the registration problem is framed as estimating the probability model. By incorporating local consistency into the optimization process, we enhance the robustness and accuracy of the posterior distributions, which represent the one-to-all correspondences that directly determine the registration results. Effective closed-form solution for transformation and probability parameters are derived with Expectation-Maximization (EM) algorithm. Extensive experiments demonstrate that our method outperforms the existing methods, achieving high accuracy and robustness with the existence of noise and outliers. The code will be available at https://github.com/sulingjie/JPRLC_registration.

Robust Point Cloud Registration in Robotic Inspection with Locally Consistent Gaussian Mixture Model

In robotic inspection of aviation parts, achieving accurate pairwise point cloud registration between scanned and model data is essential. However, noise and outliers generated in robotic scanned data can compromise registration accuracy. To mitigate this challenge, this article proposes a probability-based registration method utilizing Gaussian Mixture Model (GMM) with local consistency constraint. This method converts the registration problem into a model fitting one, constraining the similarity of posterior distributions between neighboring points to enhance correspondence robustness. We employ the Expectation Maximization algorithm iteratively to find optimal rotation matrix and translation vector while obtaining GMM parameters. Both E-step and M-step have closed-form solutions. Simulation and actual experiments confirm the method's effectiveness, reducing root mean square error by 20% despite the presence of noise and outliers. The proposed method excels in robustness and accuracy compared to existing methods.

Mapping the Empirical Evidence of the GDPR Effectiveness: A Systematic Review

In the realm of data protection, a striking disconnect prevails between traditional domains of doctrinal, legal, theoretical, and policy-based inquiries and a burgeoning body of empirical evidence. Much of the scholarly and regulatory discourse remains entrenched in abstract legal principles or normative frameworks, leaving the empirical landscape uncharted or minimally engaged. Since the birth of EU data protection law, a modest body of empirical evidence has been generated but remains widely scattered and unexamined. Such evidence offers vital insights into the perception, impact, clarity, and effects of data protection measures but languishes on the periphery, inadequately integrated into the broader conversation. To make a meaningful connection, we conduct a comprehensive review and synthesis of empirical research spanning nearly three decades (1995- March 2022), advocating for a more robust integration of empirical evidence into the evaluation and review of the GDPR, while laying a methodological foundation for future empirical research.