3D Point Cloud Registration, Experimental Comparison and Fusing Range and Visual Data

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F14%3A00218831" target="_blank" >RIV/68407700:21230/14:00218831 - isvavai.cz</a>
Result on the web
<a href="https://cyber.felk.cvut.cz/research/theses/papers/508.pdf" target="_blank" >https://cyber.felk.cvut.cz/research/theses/papers/508.pdf</a>
DOI - Digital Object Identifier
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Result language
angličtina
Original language name
3D Point Cloud Registration, Experimental Comparison and Fusing Range and Visual Data
Original language description
Point cloud registration is an important process in mobile robotics, serving as the cornerstone of simultaneous localization and mapping. The contribution of our work is twofold: firstly, we compare local registration methods using high-quality datasetsand a custom protocol. In terms of precision and robustness to initial pose displacement, the capabilities of the methods are explored in an unprecedented detail, overcoming any previous work that we know of. Secondly, we propose enhancements to a global, feature-based registration method that take advantage of visual information, specifically camera imagery. Proposed changes include an extension of the feature descriptor, and a modification of reference frame determination. To investigate the modifiedmethods, a dataset containing visual data is created. Experimental results indicate a significant improvement over the original method.
Czech name
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Czech description
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Publication year
2014
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Number of pages
50
Place of publication
Praha
Publisher/client name
Center for Machine Perception, K13133 FEE, Czech Technical University
Version
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