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Registration of colored 3D point clouds with a Kernel-based extension to the normal distributions transform
Universität Tübingen. (WSI/GRIS)
Örebro University, Department of Technology. (AASS)ORCID iD: 0000-0001-8658-2985
Universität Tübingen. (WSI/GRIS)
Örebro University, Department of Technology. (AASS)ORCID iD: 0000-0003-0217-9326
2008 (English)In: IEEE international conference on robotics and automation, ICRA 2008: ICRA 2008, 2008, 4025-4030 p.Conference paper, Published paper (Refereed)
Abstract [en]

We present a new algorithm for scan registration of colored 3D point data which is an extension to the Normal Distributions Transform (NDT). The probabilistic approach of NDT is extended to a color-aware registration algorithm by modeling the point distributions as Gaussian mixture-models in color space. We discuss different point cloud registration techniques, as well as alternative variants of the proposed algorithm. Results showing improved robustness of the proposed method using real-world data acquired with a mobile robot and a time-of-flight camera are presented.

Place, publisher, year, edition, pages
2008. 4025-4030 p.
National Category
Engineering and Technology Computer and Information Science
Research subject
Computer and Systems Science
Identifiers
URN: urn:nbn:se:oru:diva-4720DOI: 10.1109/ROBOT.2008.4543829ISBN: 978-1-4244-1646-2 (print)OAI: oai:DiVA.org:oru-4720DiVA: diva2:139019
Conference
IEEE international conference on robotics and automation, ICRA 2008, 19-23 May 2008, Pasadena, CA
Available from: 2008-11-12 Created: 2008-11-12 Last updated: 2017-10-18Bibliographically approved

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Publisher's full texthttp://aass.oru.se/~mmn/bh_mm_ws_al_icra2008.pdf

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Citation style
  • apa
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Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
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  • Other locale
More languages
Output format
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  • asciidoc
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