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Real-Time Scale Invariant 3D Range Point Cloud Registration
Indian Underwater Robotics Society, Noida, India.
University of Kaiserslautern, 67653, Kaiserslautern, Germany. (ISOVIS)ORCID iD: 0000-0002-8585-3103
Jacobs University Bremen, Bremen, Germany.
2010 (English)In: Image Analysis and Recognition: 7th International Conference, ICIAR 2010, PĆ³voa de Varzim, Portugal, June 21-23, 2010. Proceedings, Part I, Springer, 2010, p. 220-229Conference paper, Published paper (Refereed)
Abstract [en]

Stereo cameras, laser rangers and other time-of-flight ranging devices are utilized with increasing frequency as they can provide information in the 3D plane. The ability to perform real-time registration of the 3D point clouds obtained from these sensors is important in many applications. However, the tasks of locating accurate and dependable correspondences between point clouds and registration can be quite slow. Furthermore, any algorithm must be robust against artifacts in 3Drange data as sensor motion, reflection and refraction are commonplace. The SIFT feature detector is a robust algorithm used to locate features, but cannot be extended directly to the 3D range point clouds since itrequires dense pixel information, whereas the range voxels are sparsely distributed. This paper proposes an approach which enables SIFT application to locate scale and rotation invariant features in 3D point clouds.The algorithm then utilizes the known point correspondence registration algorithm in order to achieve real-time registration of 3D point clouds.

Place, publisher, year, edition, pages
Springer, 2010. p. 220-229
Series
Lecture Notes in Computer Science, ISSN 0302-9743 ; 6111
Keywords [en]
Point clouds, feature extraction, algorithms
National Category
Computer Sciences
Research subject
Computer and Information Sciences Computer Science
Identifiers
URN: urn:nbn:se:lnu:diva-1473DOI: 10.1007/978-3-642-13772-3_23ISBN: 978-3-642-13771-6 (print)OAI: oai:DiVA.org:lnu-1473DiVA, id: diva2:308505
Conference
7th International Conference on Image Analysis and Recognition (ICIAR '10), Povoa de Varzim, Portugal
Available from: 2010-04-06 Created: 2010-04-06 Last updated: 2018-01-12Bibliographically approved

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Cernea, Daniel

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CiteExportLink to record
Permanent link

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Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf