Real time registration of RGB-D data using local visual features and 3D-NDT registration

Andreasson, Henrik,1977-Örebro universitet,Institutionen för naturvetenskap och teknik,Centre for Applied Autonomous Sensor Systems ( AASS ) (författare)

The conference table of contents may be found on http://toc.proceedings.com/15154webtoc.pdf
Recent increased popularity of RGB-D capable sensors in robotics has resulted in a surge of related RGBD registration methods. This paper presents several RGB-D registration algorithms based on combinations between local visual feature and geometric registration. Fast and accurate transformation refinement is obtained by using a recently proposed geometric registration algorithm, based on the Three-Dimensional Normal Distributions Transform (3D-NDT). Results obtained on standard data sets have demonstrated mean translational errors on the order of 1 cm and rotational errors bellow 1 degree, at frame processing rates of about 15 Hz.

Stoyanov, Todor,1984-Örebro universitet,Institutionen för naturvetenskap och teknik,Centre for Applied Autonomous Sensor Systems ( AASS )(Swepub:oru)tsv (författare)
Örebro universitetInstitutionen för naturvetenskap och teknik (creator_code:org_t)

Ingår i:Proc. of International Conference on Robotics and Automation (ICRA) Workshop on Semantic Perception, Mapping and Exploration (SPME): IEEE9781467314039

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