Planar structure based registration of multiple range images

Daiju Watanabe, Hideo Saito

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

In this paper, we describe the method for aligning multiple range images given by a range finder. Especially we will use range images of inside and outside of buildings which contain many planar structures. In our method for registration of range images, we consider not only 3D positions of range data but normal vectors of planes in the scene in order to refine the ICP (Iterative Closest Point) algorithm. First, we extract planes of range images in order to calculate normal vectors of planes in the scene. Then, we estimate the motion parameters that are composed of a rotation matrix and a translation vector using our refined ICP algorithm. We present results that demonstrate our approach's ability to align range images more accurately and faster than the standard ICP algorithm.

本文言語English
ホスト出版物のタイトルProceedings - 18th International Conference on Pattern Recognition, ICPR 2006
ページ689-692
ページ数4
DOI
出版ステータスPublished - 2006 12月 1
イベント18th International Conference on Pattern Recognition, ICPR 2006 - Hong Kong, China
継続期間: 2006 8月 202006 8月 24

出版物シリーズ

名前Proceedings - International Conference on Pattern Recognition
3
ISSN(印刷版)1051-4651

Other

Other18th International Conference on Pattern Recognition, ICPR 2006
国/地域China
CityHong Kong
Period06/8/2006/8/24

ASJC Scopus subject areas

  • コンピュータ ビジョンおよびパターン認識

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