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Real time registration of RGB-D data using local visual features and 3D-NDT registration
Örebro University, School of Science and Technology. (Centre for Applied Autonomous Sensor Systems ( AASS ))ORCID iD: 0000-0002-2953-1564
Örebro University, School of Science and Technology. (Centre for Applied Autonomous Sensor Systems ( AASS ))ORCID iD: 0000-0002-6013-4874
2012 (English)In: Proc. of International Conference on Robotics and Automation (ICRA) Workshop on Semantic Perception, Mapping and Exploration (SPME), IEEE, 2012Conference paper, Published paper (Refereed)
Abstract [en]

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.

Place, publisher, year, edition, pages
IEEE, 2012.
National Category
Computer Science
Research subject
Computer Science
Identifiers
URN: urn:nbn:se:oru:diva-28869ISBN: 978-1-4673-1403-9 (print)OAI: oai:DiVA.org:oru-28869DiVA: diva2:618702
Conference
Semantic Perception, Mapping and Exploration Workshop (SPME 2012) at the IEEE International Conference on Robotics and Automation (ICRA 2012), May 14, St. Paul, MI, USA
Note

The conference table of contents may be found on 

http://toc.proceedings.com/15154webtoc.pdf

Available from: 2013-04-29 Created: 2013-04-29 Last updated: 2017-10-18Bibliographically approved

Open Access in DiVA

No full text

Other links

http://www.aass.oru.se/Research/Learning/publications/2012/Andreasson_Stoyanov-SPME2012-Real_Time_Registration_of_RGB-D_Data_using_Local_Visual_Features_and_3D-NDT_Registration.pdf

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Andreasson, HenrikStoyanov, Todor

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CiteExportLink to record
Permanent link

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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