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6D scan registration using depth-interpolated local image features
Örebro universitet, Akademin för naturvetenskap och teknik. (AASS Learning Systems Lab)ORCID-id: 0000-0002-2953-1564
Örebro universitet, Akademin för naturvetenskap och teknik. (AASS Learning Systems Lab)ORCID-id: 0000-0003-0217-9326
2010 (engelsk)Inngår i: Robotics and Autonomous Systems, ISSN 0921-8890, E-ISSN 1872-793X, Vol. 58, nr 2, s. 157-165Artikkel i tidsskrift (Fagfellevurdert) Published
Abstract [en]

This paper describes a novel registration approach that is based on a combination of visual and 3D range information.To identify correspondences, local visual features obtained from images of a standard color camera are compared and the depth of matching features (and their position covariance) is determined from the range measurements of a 3D laserscanner. The matched depth-interpolated image features allows to apply registration with known correspondences.We compare several ICP variants in this paper and suggest an extension that considers the spatial distance betweenmatching features to eliminate false correspondences. Experimental results are presented in both outdoor and indoor environments. In addition to pair-wise registration, we also propose a global registration method that registers allscan poses simultaneously.

sted, utgiver, år, opplag, sider
Amsterdam, Netherlands: Elsevier, 2010. Vol. 58, nr 2, s. 157-165
Emneord [en]
Registration, Vision, Laser Range Finder, SLAM
HSV kategori
Forskningsprogram
Datalogi
Identifikatorer
URN: urn:nbn:se:oru:diva-8427DOI: 10.1016/j.robot.2009.09.011ISI: 000275072000005Scopus ID: 2-s2.0-75149188134OAI: oai:DiVA.org:oru-8427DiVA, id: diva2:274835
Konferanse
3rd European Conference on Mobile Robots (ECMR'07), Freiburg, Germany, Sep., 2007
Merknad

Selected papers from the 2007 European Conference on Mobile Robots (ECMR ’07)

Tilgjengelig fra: 2010-02-01 Laget: 2009-11-02 Sist oppdatert: 2018-01-12bibliografisk kontrollert

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