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6D scan registratio...
6D scan registration using depth-interpolated local image features
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- Andreasson, Henrik, 1977- (författare)
- Örebro universitet,Akademin för naturvetenskap och teknik,AASS Learning Systems Lab
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- Lilienthal, Achim J., 1970- (författare)
- Örebro universitet,Akademin för naturvetenskap och teknik,AASS Learning Systems Lab
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(creator_code:org_t)
- Amsterdam, Netherlands : Elsevier, 2010
- 2010
- Engelska.
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Ingår i: Robotics and Autonomous Systems. - Amsterdam, Netherlands : Elsevier. - 0921-8890 .- 1872-793X. ; 58:2, s. 157-165
- Relaterad länk:
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https://oru.diva-por... (primary) (Raw object)
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http://aass.oru.se/R...
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https://urn.kb.se/re...
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https://doi.org/10.1...
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Abstract
Ämnesord
Stäng
- 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.
Ämnesord
- NATURVETENSKAP -- Data- och informationsvetenskap -- Annan data- och informationsvetenskap (hsv//swe)
- NATURAL SCIENCES -- Computer and Information Sciences -- Other Computer and Information Science (hsv//eng)
Nyckelord
- Registration
- Vision
- Laser Range Finder
- SLAM
- TECHNOLOGY
- TEKNIKVETENSKAP
- Other information technology
- Övrig informationsteknik
- Computer and Systems Science
- Datalogi
Publikations- och innehållstyp
- ref (ämneskategori)
- art (ämneskategori)
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