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.
Item URL in elib: | https://elib.dlr.de/57490/ | ||||||||||||||||||||||||
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Document Type: | Conference or Workshop Item (Speech, Paper) | ||||||||||||||||||||||||
Title: | Automatic Registration of Panoramic 2.5D Scans and Color Images | ||||||||||||||||||||||||
Authors: |
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Date: | 2008 | ||||||||||||||||||||||||
Journal or Publication Title: | International Calibration and Orientation Workshop | ||||||||||||||||||||||||
Refereed publication: | Yes | ||||||||||||||||||||||||
Open Access: | No | ||||||||||||||||||||||||
Gold Open Access: | No | ||||||||||||||||||||||||
In SCOPUS: | No | ||||||||||||||||||||||||
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 Date: | January 2008 | ||||||||||||||||||||||||
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 (until 2012) > Robotic Systems | ||||||||||||||||||||||||
Deposited By: | Klauer, Monika | ||||||||||||||||||||||||
Deposited On: | 14 Jan 2009 | ||||||||||||||||||||||||
Last Modified: | 24 Apr 2024 19:21 |
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