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On Texture and Geometric Feature Based RGB-D Registration

Stanimirovic, Darko and Marton, Zoltan-Csaba and Suppa, Michael (2013) On Texture and Geometric Feature Based RGB-D Registration. 3rd Workshop on Semantic Perception, Mapping and Exploration (SPME), May 5th, 2013, Karlsruhe, Germany.

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Official URL: http://www.spme.ws/2013

Abstract

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.

Item URL in elib:https://elib.dlr.de/82893/
Document Type:Conference or Workshop Item (Speech)
Title:On Texture and Geometric Feature Based RGB-D Registration
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Stanimirovic, Darkodarkos490 (at) gmail.comUNSPECIFIED
Marton, Zoltan-CsabaZoltan.Marton (at) dlr.dehttps://orcid.org/0000-0002-3035-493X
Suppa, MichaelMichael.Suppa (at) dlr.deUNSPECIFIED
Date:5 May 2013
Refereed publication:No
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:global and local registration, RGB-D camera, plane matching, optimization
Event Title:3rd Workshop on Semantic Perception, Mapping and Exploration (SPME)
Event Location:Karlsruhe, Germany
Event Type:Workshop
Event Dates:May 5th, 2013
Organizer: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 - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Multisensorielle Weltmodellierung
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Perception and Cognition
Deposited By: Marton, Dr. Zoltan-Csaba
Deposited On:15 Jul 2013 14:24
Last Modified:31 Jul 2019 19:41

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