Pair-wise Registration of 3D/Color Data Sets with ICP

Author

Douadi, Lounis ; Aldon, Marie-Jose ; Crosnier, Andre

Author_Institution

UMR CNRS, LIRMM, Montpellier

fYear

2006

fDate

Oct. 2006

Firstpage

663

Lastpage

668

Abstract

The ICP (iterative closest point) algorithm remains a very popular method for the registration of 3D data sets, when an initial guess of the relative pose between them is known. The purpose of the work presented in this paper is to improve performance of classical ICP. We address, here, the problem of pair-wise registration of color range images. Many variants of ICP have been proposed for the registration of 3D data sets. However, there are only a few solutions dealing with color range images. In this paper, we have adapted some variants of ICP to take into account color information in the closest point research. Two approaches of color data integration have been evaluated with real 3D/color data sets

Keywords

image colour analysis; image registration; 3D/color data sets; color data integration; color range images; iterative closest point algorithm; pair-wise registration; Application software; Color; Image reconstruction; Intelligent robots; Iterative algorithms; Iterative closest point algorithm; Iterative methods; Layout; Robot kinematics; Robot sensing systems; Iterative Closest Point; color range images; model reconstruction; registration;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on

Conference_Location

Beijing

Print_ISBN

1-4244-0259-X

Electronic_ISBN

1-4244-0259-X

Type

conf

DOI

10.1109/IROS.2006.282551

Filename

4058433