Color point cloud registration with 4D ICP algorithm

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2011, Pages 1511-1516

  Men, Hao ^a   Gebre, Biruk ^a   Pochiraju, Kishore ^a  

^a Stevens Institute of Technology   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

3D POINT CLOUD; COLOR POINTS; HUE VALUES; ICP ALGORITHMS; ITERATIVE CLOSEST POINT ALGORITHM; K-D TREE; NEAREST NEIGHBOR SEARCH; NUMERICAL RESULTS; RANGE DATA; ROTATION MATRICES; SINGULAR VALUE DECOMPOSITION METHOD;

IMAGE REGISTRATION; NUMERICAL METHODS; ROBOTICS; SINGULAR VALUE DECOMPOSITION; THREE DIMENSIONAL COMPUTER GRAPHICS;

ITERATIVE METHODS;

EID: 84871692703     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICRA.2011.5980407     Document Type: Conference Paper

References (23)

1. S. Thrun, "Robotic Mapping: A Survey,", Exploring artificial intelligence in the new millennium, Morgan Kaufmann Publishers Inc, pp 1-35, 2003.
2. PJ. Bsel, "A Method for Registration of 3D Shapes,", IEEE Trans on Pattern Analysis and Machine Intelligence, Vol. 14, pp239-256, 1992
3. K. S. Arun, "Least Square Fitting of Two 3D-Point Sets,", IEEE Trans on Pattern Analysis and Machine Intelligence, Vol.9 No.5, pp698-700, 1987.
4. J. Timotee, "Fast ICP Algorithms for Shape Registration,", Pattern Recognition, Springer Berlin, pp 91-99, 2002.
5. S. Thrun, "Exploration and Model Building in Mobile Robot Domains,", IEEE International Conference on Neural Networks, Vol.1, pp 175-180, 1993, San Francisco, USA.
6. A. Nuchter, "6D SLAM with Approximate Data Association,", IEEE International Conference on Robotics and Automation, pp242-249, 2005, Barcelona, Spain.
7. A. Nuchter, "Catched k-d tree Search for ICP Algorithms,", 6th International Conference on 3-D Digital Imaging and Modeling, 2007.
8. S. Rusinkiewucz, "Efficient Variants of the ICP Algorithm," 3rd International Conference on 3-D Digital Imaging and Modeling, pp145-152, 2001.
9. A. Lorusso, "A Comparison of Four Algorithms for Estimating 3D Rigid Transformations,", British Machine Vision Conference, 1995
10. C. Robertson, "Parallel Evolutionary Registration of Range Data,", Computer Vision and Image Understanding, Vol 87, pp 39-50, 2002
11. S. Druon, "Color Constrained ICP for Registration of Large Unconstructed 3D/Color Data Sets,", IEEE International Conference on Robotics and Automation, pp249-255, 2007.
12. H. Andresson, "Vision Aided 3D Laser Scanner Based Registration,", roc. European Conference on Mobile Robots: ECMR, pp192-197, 2007.
13. B. Gebre, H. Men, K. Pochiraju, "Remotely Operated and Autonomous Mapping System(ROAMS)," 2nd Annual IEEE International Conference on Technologies for Practical Robot Applications, Woburn, MA, 2009
14. A. Makadia, E. P. Iv, K. Daniilidis, "Fully Automatic Registration of 3D Point Clouds,", Proceedings of the 2006 Computer Society Conference on Computer Vision and Pattern recognition, pp1297-1304, 2006
15. A.G. Chibunichev, A.B. Velizhev, "Automatic Matching of Terrestrial Scan Data Using Orientation Histograms,", The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Vol. XXXVII, Beijing, 2008.
16. J.H. Joung, K.H. An, J.W. Kang et al, "3D Environment Reconstruction Using Modified Color ICP Algorithm by Fusion of a Camera and a 3D Laser Range Finger,", The 2009 IEEE International Conferrnce on Intelligent Robos and Systems, St. Louis, USA, 2009.
17. A.E. Johnson, S.B. Kang, "Registration and Integration of Textured 3D Data,", Proceedings of International Conference on Recent Advances in 3D Didital Imaging and Modeling, pp234-241, Ottawa, Canada, 1997.
18. H. Men, K. Pochiraju, "Hue Assisted Registration of 3D Point Clouds,", ASME 2010 Interaional Design Engineering Technical Conference, Montreal, Canada, 2010.
19. H. Andreason, A.J. Lilienthal, "6D Scan Registration using Depth-interpolated Local Image Features,", Robotics and Autonomous Systems, Vol.59, 2010, pp157-165.
20. D. Hähnel, W. Burgard, Probabilistic matching for 3d scan registration, in: Proceedings of the VDI-Conference Robotik, 2002.
21. A. Makadia, E. P. Iv, K. Daniilidis, "Fully Automatic Registration of 3D Point Clouds,", Proceedings of the 2006 Computer Society Conference on Computer Vision and Pattern recognition, pp1297-1304, 2006
22. A.G. Chibunichev, A.B. Velizhev, "Automatic Matching of Terrestrial Scan Data Using Orientation Histograms,", The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Vol. XXXVII, Beijing, 2008.
23. B. Huhle, M. Magnusson and W. Straber et al., "Registration of Colored 3D Point Clouds with a Kernel-based Extension to the Normal Distributions Transform,", IEEE International Conference on Robotics and Automation, Pasadena, CA, USA, May 19-23, 2008.