DocumentCode :
2483333
Title :
Registration by using a pseudo color attribute
Author :
Romero, Felipe Trujillo ; Devy, Michel
Author_Institution :
LAAS-CNRS, Univ. de Toulouse, Toulouse
fYear :
2008
fDate :
8-11 Dec. 2008
Firstpage :
1
Lastpage :
4
Abstract :
This paper presents a new variant of the classical Iterative Closest Point (ICP) algorithm. The ICP result depends heavily on the matching between 3D points of the two cloud of points to be registered : besides the 3D distance between points, many other attributes have been proposed to find good matchings, and especially, when available, color or texture attributes could be compared to confirm pairings between closest points. In our system, 3D data are acquired by a monochromatic stereovision sensor ; a simple method is proposed to associate a pseudo-color to every 3D point, only from its position in the cloud. Our ICP implementation is slower than the classic ICP algorithm but it is shown that it gives better registration, either on our stereo data or on data sets used for the benchmarking of 3D modelling algorithm.
Keywords :
image colour analysis; image registration; image texture; iterative methods; sensors; stereo image processing; 3D modelling algorithm; iterative closest point algorithm; monochromatic stereovision sensor; pseudo color attribute; texture attributes; Cameras; Clouds; Data mining; Euclidean distance; Iterative algorithms; Iterative closest point algorithm; Optimization methods; Robot sensing systems; Robustness; Sensor phenomena and characterization;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Pattern Recognition, 2008. ICPR 2008. 19th International Conference on
Conference_Location :
Tampa, FL
ISSN :
1051-4651
Print_ISBN :
978-1-4244-2174-9
Electronic_ISBN :
1051-4651
Type :
conf
DOI :
10.1109/ICPR.2008.4761507
Filename :
4761507
Link To Document :
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