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Automatic Registration of Panoramic 2.5D Scans and Color Images

Abmayr, T. and Härtl, F. and Hirzinger, Gerd and Burschka, Darius and Fröhlich, Christoph (2008) Automatic Registration of Panoramic 2.5D Scans and Color Images. In: International Calibration and Orientation Workshop. Euro COW 2008, 2008-01, Castelldefels (Spanien).

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Abstract

Here we present an approach for a registration framework to fuse the 2.5D data from a laserscanner and the color information from a digital camera to 2.5D color images. The spatial resolution of the scanner is very dense, which emphasizes the need for precision during the calibration of both sensors as well as in the registration of the data streams. To achieve the same visual field for the digital camera, it is mounted on a vertical tilt unit. Overlapping color images are acquired by rotating the entire system horizontally and the tilt unit vertically by predefined angle increments. Using these angle increments as fixed input parameters, the calibration of the camera as well as the registration between both sensors can be simplified enormously. We use the Sift method and Ransac to find homologous points between the scanner and the camera data automatically and marker-free. In our results the marker-free approach is compared against marker-based registration.

Document Type:Conference or Workshop Item (Speech, Paper)
Title:Automatic Registration of Panoramic 2.5D Scans and Color Images
Authors:
AuthorsInstitution or Email of Authors
Abmayr, T.Zoller + Fröhlich GmbH
Härtl, F.Zoller + Fröhlich GmbH
Hirzinger, GerdUNSPECIFIED
Burschka, DariusTechnische Universität München
Fröhlich, ChristophUNSPECIFIED
Date:2008
Journal or Publication Title:International Calibration and Orientation Workshop
Refereed publication:Yes
In ISI Web of Science:No
Status:Published
Keywords:Terrestrial Laser Scanning, Color Scanning, Sensor Calibration
Event Title:Euro COW 2008
Event Location:Castelldefels (Spanien)
Event Type:international Conference
Event Dates:2008-01
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - Weiterentwicklung Robotik - Telerobotik und Autonomie (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Monika Klauer
Deposited On:14 Jan 2009
Last Modified:12 Dec 2013 20:35

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