Vision aided 3D laser scanner based registration
Year: 2007
Type: article
Abstract: — This paper describes a vision and 3D laser based registration approach which utilizes visual features to identify correspondences. Visual features are obtained from the images of a standard color camera and the depth of these features is determined by interpolating between the scanning points of a 3D laser range scanner, taking into consideration the visual information in the neighbourhood of the respective visual feature. The 3D laser scanner is also used to determine a position covariance estimate of the visual feature. To exploit these covariance estimates, an ICP algorithm based on the Mahalanobis distance is applied. Initial experimental results are presented in a real world indoor laboratory environment. Index Terms — Registration, Vision I.
Authors: Henrik Andreasson, Achim J. Lilienthal
Language: English
Subfield: Computer Vision and Pattern Recognition
Field: Computer Science
Domain: Physical Sciences
Open Access status: green
OpenAlex ID: W748831556