Stanimirovic, Darko und Marton, Zoltan-Csaba und Suppa, Michael (2013) On Texture and Geometric Feature Based RGB-D Registration. 3rd Workshop on Semantic Perception, Mapping and Exploration (SPME), 2013-05-05, Karlsruhe, Germany.
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Offizielle URL: http://www.spme.ws/2013
Kurzfassung
This work addresses the problem of point cloud registration in the context of RGB-Depth data. The Color and Geometric Feature (CGF) registration presented here utilizes both intensity and depth data, in order to achieve an optimal use of all available resources. Registration is achieved by performing optimization over a joint cost function, exploiting texture features and correspondences between planes. For this, a group of planar patches is extracted and matched, with covariances estimated based on the sensor’s error model. Comparisons to other approaches highlight the advantages of CGF registration.
elib-URL des Eintrags: | https://elib.dlr.de/82893/ | ||||||||||||||||
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Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||
Titel: | On Texture and Geometric Feature Based RGB-D Registration | ||||||||||||||||
Autoren: |
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Datum: | 5 Mai 2013 | ||||||||||||||||
Referierte Publikation: | Nein | ||||||||||||||||
Open Access: | Ja | ||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||
In SCOPUS: | Nein | ||||||||||||||||
In ISI Web of Science: | Nein | ||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||
Stichwörter: | global and local registration, RGB-D camera, plane matching, optimization | ||||||||||||||||
Veranstaltungstitel: | 3rd Workshop on Semantic Perception, Mapping and Exploration (SPME) | ||||||||||||||||
Veranstaltungsort: | Karlsruhe, Germany | ||||||||||||||||
Veranstaltungsart: | Workshop | ||||||||||||||||
Veranstaltungsdatum: | 5 Mai 2013 | ||||||||||||||||
Veranstalter : | Dirk Holz, University of Bonn; Federico Tombari, University of Bologna; Aitor Aldoma, Vienna University of Technology; Andreas Nuechter, Jacobs University Bremen; Andrzej Pronobis, University of Washington; Radu Bogdan Rusu, Open Perception | ||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||
HGF - Programmthema: | Technik für Raumfahrtsysteme | ||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||
DLR - Forschungsgebiet: | R SY - Technik für Raumfahrtsysteme | ||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Vorhaben Multisensorielle Weltmodellierung (alt) | ||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Perzeption und Kognition | ||||||||||||||||
Hinterlegt von: | Marton, Dr. Zoltan-Csaba | ||||||||||||||||
Hinterlegt am: | 15 Jul 2013 14:24 | ||||||||||||||||
Letzte Änderung: | 24 Apr 2024 19:49 |
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