Accurate camera pose estimation for Kinect Fusion based on line segment matching by LEHF

Yusuke Nakayama, Toshihiro Honda, Hideo Saito, Masayoshi Shimizu, Nobuyasu Yamaguchi

研究成果: Conference contribution

13 被引用数 (Scopus)

抄録

Kinect Fusion is able to build a 3D reconstruction in real time and provide a 3D model. Kinect Fusion uses Iterative Closest Point (ICP) algorithm for point cloud alignment from the each camera frame and estimates each camera pose. However, ICP algorithm has its limits and the camera poses lack in accuracy. We propose an alignment method which is not only based on point cloud but also line segments. This method significantly improve the camera pose accuracy obtained from Kinect Fusion and creates better 3D model. In this method, we use line segment matching by Line-based Eight-directional Histogram Feature(LEHF). We also propose an improved version of LEHF for this alignment method. The basic idea is to get a set of 2D-3D line segment correspondences between 2D line segments on camera images and 3D line segments of 3D line segment based models, to solve the PnL problem and to recompute the camera pose. The experimental result that the camera pose estimated by our method is more accurate than the original one obtained from Kinect Fusion.

本文言語English
ホスト出版物のタイトルProceedings - International Conference on Pattern Recognition
出版社Institute of Electrical and Electronics Engineers Inc.
ページ2149-2154
ページ数6
ISBN(電子版)9781479952083
DOI
出版ステータスPublished - 2014 12月 4
イベント22nd International Conference on Pattern Recognition, ICPR 2014 - Stockholm, Sweden
継続期間: 2014 8月 242014 8月 28

出版物シリーズ

名前Proceedings - International Conference on Pattern Recognition
ISSN(印刷版)1051-4651

Other

Other22nd International Conference on Pattern Recognition, ICPR 2014
国/地域Sweden
CityStockholm
Period14/8/2414/8/28

ASJC Scopus subject areas

  • コンピュータ ビジョンおよびパターン認識

フィンガープリント

「Accurate camera pose estimation for Kinect Fusion based on line segment matching by LEHF」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル