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Proceedings Paper

Accurate alignment of RGB-D frames for 3D map generation
Author(s): Jose A. Gonzalez-Fraga; Vitaly Kober; Everardo Gutiérrez
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Paper Abstract

It is well known that the accuracy and resolution of depth data decreases when the distance from a RGB-D sensor to a 3D object of interest increases, affecting the performance of 3D scene reconstruction systems based on an ICP algorithm. In this paper, to improve the 3D map accuracy by aligning multiple cloud points we propose: first, to split the depth plane into sub-clouds with a similar resolution; then, in each sub-cloud to select a minimum number of keypoints for aligning them separately with an ICP algorithm; finally, to merge all clouds into a dense 3D map. Computer simulation results show the performance of the proposed algorithm of the 3D scene reconstruction using real indoor environment data.

Paper Details

Date Published: 17 September 2018
PDF: 6 pages
Proc. SPIE 10752, Applications of Digital Image Processing XLI, 107522I (17 September 2018); doi: 10.1117/12.2320898
Show Author Affiliations
Jose A. Gonzalez-Fraga, Univ. Autónoma de Baja California (Mexico)
Vitaly Kober, Ctr. de Investigación Científica y de Educación Superior de Ensenada B.C. (Mexico)
Chelyabinsk State Univ. (Russian Federation)
Everardo Gutiérrez, Univ. Autónoma de Baja California (Mexico)


Published in SPIE Proceedings Vol. 10752:
Applications of Digital Image Processing XLI
Andrew G. Tescher, Editor(s)

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