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Paper TuD08.4

Dryanovski, Ivan (The Graduate Center, The City University of New York (CUNY)), Jaramillo, Carlos (The City College of New York), Xiao, Jizhong (The City College of New York)

Incremental Registration of RGB-D Images

Scheduled for presentation during the Regular Session "RGB-D Localization and Mapping" (TuD08), Tuesday, May 15, 2012, 17:15−17:30, Meeting Room 8 (Wacipi)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on December 11, 2017

Keywords Mapping, Computer Vision for Robotics and Automation, Range Sensing

Abstract

An RGB-D camera is a sensor which outputs range and color information about objects. Recent technological advances in this area have introduced affordable RGB-D devices in the robotics community. In this paper, we present a real-time technique for 6-DoF camera pose estimation through the incremental registration of RGB-D images. First, a set of edge features are computed from the depth and color images. An initial motion estimation is calculated through aligning the features. This initial guess is refined by applying the Iterative Closest Point algorithm on the dense point cloud data. A rigorous error analysis assesses several sets of RGB-D ground truth data via an error accumulation metric. We show that the proposed two-stage approach significantly reduces error in the pose estimation, compared to a state-of-the-art ICP registration technique.

 

 

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