Indoor Scene Point Cloud Registration Algorithm Based on RGB-D Camera Calibration
學年 106
學期 1
出版（發表）日期 2017-08-15
作品名稱 Indoor Scene Point Cloud Registration Algorithm Based on RGB-D Camera Calibration
作品名稱（其他語言）
著者 Chi-Yi Tsai; Chih-Hung Huang
單位
出版者
著錄名稱、卷期、頁數 Sensors 17(8), 1874(19 pages)
摘要 With the increasing popularity of RGB-depth (RGB-D) sensor, research on the use of RGB-D sensors to reconstruct three-dimensional (3D) indoor scenes has gained more and more attention. In this paper, an automatic point cloud registration algorithm is proposed to efficiently handle the task of 3D indoor scene reconstruction using pan-tilt platforms on a fixed position. The proposed algorithm aims to align multiple point clouds using extrinsic parameters of the RGB-D camera obtained from every preset pan-tilt control point. A computationally efficient global registration method is proposed based on transformation matrices formed by the offline calibrated extrinsic parameters. Then, a local registration method, which is an optional operation in the proposed algorithm, is employed to refine the preliminary alignment result. Experimental results validate the quality and computational efficiency of the proposed point cloud alignment algorithm by comparing it with two state-of-the-art methods.
關鍵字 point cloud registration;point cloud alignment;indoor scene reconstruction;multi-view calibration;RGB-D mapping
語言 en
ISSN
期刊性質 國外
收錄於 SCI EI
產學合作
通訊作者 Chi-Yi Tsai
審稿制度 是
國別 CHE
公開徵稿
出版型式 ,電子版
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機構典藏連結 ( http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/115791 )

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