oru.sePublikationer
Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
6D scan registration using depth-interpolated local image features
Örebro University, School of Science and Technology. (AASS Learning Systems Lab)ORCID iD: 0000-0002-2953-1564
Örebro University, School of Science and Technology. (AASS Learning Systems Lab)ORCID iD: 0000-0003-0217-9326
2010 (English)In: Robotics and Autonomous Systems, ISSN 0921-8890, E-ISSN 1872-793X, Vol. 58, no 2, 157-165 p.Article in journal (Refereed) 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.

Place, publisher, year, edition, pages
Amsterdam, Netherlands: Elsevier, 2010. Vol. 58, no 2, 157-165 p.
Keyword [en]
Registration, Vision, Laser Range Finder, SLAM
National Category
Engineering and Technology Other Computer and Information Science
Research subject
Computer and Systems Science
Identifiers
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: diva2:274835
Conference
3rd European Conference on Mobile Robots (ECMR'07), Freiburg, Germany, Sep., 2007
Note

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

Available from: 2010-02-01 Created: 2009-11-02 Last updated: 2017-10-18Bibliographically approved

Open Access in DiVA

fulltext(1799 kB)321 downloads
File information
File name FULLTEXT01.pdfFile size 1799 kBChecksum SHA-512
040d5d955396b5fc1703d9021af1c848c1ea03a09dbe46c88caa52561b370e00f476d2139615a4012ea760d47dc5cceb0da33becec67dd03549a63d532a00122
Type fulltextMimetype application/pdf

Other links

Publisher's full textScopus

Search in DiVA

By author/editor
Andreasson, HenrikLilienthal, Achim J.
By organisation
School of Science and Technology
In the same journal
Robotics and Autonomous Systems
Engineering and TechnologyOther Computer and Information Science

Search outside of DiVA

GoogleGoogle Scholar
Total: 321 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

Altmetric score

Total: 660 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf