WFRF:(Andreasson Henrik)
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Real time registration of RGB-D data using local visual features and 3D-NDT registration
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- Andreasson, Henrik, 1977- (author)
- Örebro universitet,Institutionen för naturvetenskap och teknik,Centre for Applied Autonomous Sensor Systems ( AASS )
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- Stoyanov, Todor, 1984- (author)
- Örebro universitet,Institutionen för naturvetenskap och teknik,Centre for Applied Autonomous Sensor Systems ( AASS )
- (creator_code:org_t)
- IEEE, 2012
- 2012
- English.
- In: Proc. of International Conference on Robotics and Automation (ICRA) Workshop on Semantic Perception, Mapping and Exploration (SPME). - : IEEE. - 9781467314039
- Conference paper (peer-reviewed)
Abstract
Subject headings
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- 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.
Subject headings
- NATURVETENSKAP -- Data- och informationsvetenskap -- Datavetenskap (hsv//swe)
- NATURAL SCIENCES -- Computer and Information Sciences -- Computer Sciences (hsv//eng)
Keyword
- Computer Science
- Datavetenskap
Publication and Content Type
- ref (subject category)
- kon (subject category)
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