Point cloud registration with 2D and 3D fusion information on mobile robot integrated vision system

Author

Xu Zhang ; Lin Li ; Dawei Tu

Author_Institution

Fac. of Mech. Eng. & Autom., Shanghai Univ., Shanghai, China

fYear

2013

fDate

12-14 Dec. 2013

Firstpage

1187

Lastpage

1192

Abstract

Multi-view point clouds registration method based on the 2D and 3D fusion information is proposed. First the joint calibration of the CCD camera and 3D laser radar system is conducted to fuse the image information and range information. Then, matching feature points in the images are obtained with the SIFT algorithm. Based on the joint calibration results and the images feature matching points, the point clouds feature matching points are determined. After that, the initial value of the different view point cloud space transform is calculated with the RANSAC, and ICP algorithm is adopted to optimize the results. Finally, the proposed method was implemented on a mobile robot and verified effective in the experiment.

Keywords

cameras; feature extraction; image fusion; image matching; image registration; iterative methods; mobile robots; robot vision; 2D fusion information; 3D fusion information; 3D laser radar system; CCD camera; ICP algorithm; RANSAC; SIFT algorithm; charge-coupled device camera; feature points matching; image information; iterative closest point algorithm; mobile robot integrated vision system; multiview point clouds registration method; point cloud space transform; range information; scale-invariant feature transform; Calibration; Cameras; Laser fusion; Laser radar; Radar imaging; Three-dimensional displays;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Biomimetics (ROBIO), 2013 IEEE International Conference on

Conference_Location

Shenzhen

Type

conf

DOI

10.1109/ROBIO.2013.6739625

Filename

6739625