6D scan registration using depth-interpolated local image features
نویسندگان
چکیده
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 laser scanner. 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 between matching 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 all scan poses simultaneously.
منابع مشابه
A Study on Robustness of Various Deformable Image Registration Algorithms on Image Reconstruction Using 4DCT Thoracic Images
Background: Medical image interpolation is recently introduced as a helpful tool to obtain further information via initial available images taken by tomography systems. To do this, deformable image registration algorithms are mainly utilized to perform image interpolation using tomography images.Materials and Methods: In this work, 4DCT thoracic images of five real patients provided by DI...
متن کاملNew Pseudo-CT Generation Approach from Magnetic Resonance Imaging using a Local Texture Descriptor
Background: One of the challenges of PET/MRI combined systems is to derive an attenuation map to correct the PET image. For that, the pseudo-CT image could be used to correct the attenuation. Until now, most existing scientific researches construct this pseudo-CT image using the registration techniques. However, these techniques suffer from the local minima of the non-rigid deformation energy f...
متن کاملA Learning-based Variable Size Part Extraction Architecture for 6D Object Pose Recovery in Depth
State-of-the-art techniques for 6D object pose recovery depend on occlusion-free point clouds to accurately register objects in 3D space. To deal with this shortcoming, we introduce a novel architecture called Iterative Hough Forest with Histogram of Control Points that is capable of estimating the 6D pose of occluded and cluttered objects given a candidate 2D bounding box. Our Iterative Hough ...
متن کاملDPML-Risk: An Efficient Algorithm for Image Registration
Targets and objects registration and tracking in a sequence of images play an important role in various areas. One of the methods in image registration is feature-based algorithm which is accomplished in two steps. The first step includes finding features of sensed and reference images. In this step, a scale space is used to reduce the sensitivity of detected features to the scale changes. Afterw...
متن کاملHigh Accuracy Bicubic Interpolation Using Image Local Features
In this paper, we propose a novel bicubic method for digital image interpolation. Since the conventional bicubic method does not consider image local features, the interpolated images obtained by the conventional bicubic method often have a blurring problem. In this paper, the proposed bicubic method adopts both the local asymmetry features and the local gradient features of an image in the int...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
- Robotics and Autonomous Systems
دوره 58 شماره
صفحات -
تاریخ انتشار 2010