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

Kód výsledku v IS VaVaI

RIV/68407700:21230/14:00218831 - isvavai.cz

Výsledek na webu

https://cyber.felk.cvut.cz/research/theses/papers/508.pdf

DOI - Digital Object Identifier

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Jazyk výsledku

angličtina

Název v původním jazyce

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

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

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

Popis výsledku anglicky

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.

Druh

V_souhrn - Souhrnná výzkumná zpráva

CEP obor

JD - Využití počítačů, robotika a její aplikace

OECD FORD obor

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Projekt

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Návaznosti

R - Projekt Ramcoveho programu EK

Rok uplatnění

2014

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Počet stran výsledku

50

Místo vydání

Praha

Název nakladatele resp. objednatele

Center for Machine Perception, K13133 FEE, Czech Technical University

Verze

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