Pair-wise Registration of 3D/Color Data Sets with ICP

The ICP (iterative closest point) algorithm remains a very popular method for the registration of 3D data sets, when an initial guess of the relative pose between them is known. The purpose of the work presented in this paper is to improve performance of classical ICP. We address, here, the problem...

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Hauptverfasser:	Douadi, L., Aldon, M.-J., Crosnier, A.
Format:	Tagungsbericht
Sprache:	eng
Schlagworte:	Application software Color color range images Computer Science Image reconstruction Intelligent robots Iterative algorithms Iterative Closest Point Iterative closest point algorithm Iterative methods Layout model reconstruction registration Robot kinematics Robot sensing systems Robotics
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creator	Douadi, L. Aldon, M.-J. Crosnier, A.
description	The ICP (iterative closest point) algorithm remains a very popular method for the registration of 3D data sets, when an initial guess of the relative pose between them is known. The purpose of the work presented in this paper is to improve performance of classical ICP. We address, here, the problem of pair-wise registration of color range images. Many variants of ICP have been proposed for the registration of 3D data sets. However, there are only a few solutions dealing with color range images. In this paper, we have adapted some variants of ICP to take into account color information in the closest point research. Two approaches of color data integration have been evaluated with real 3D/color data sets
doi_str_mv	10.1109/IROS.2006.282551
format	Conference Proceeding
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Two approaches of color data integration have been evaluated with real 3D/color data sets</description><subject>Application software</subject><subject>Color</subject><subject>color range images</subject><subject>Computer Science</subject><subject>Image reconstruction</subject><subject>Intelligent robots</subject><subject>Iterative algorithms</subject><subject>Iterative Closest Point</subject><subject>Iterative closest point algorithm</subject><subject>Iterative methods</subject><subject>Layout</subject><subject>model reconstruction</subject><subject>registration</subject><subject>Robot kinematics</subject><subject>Robot sensing systems</subject><subject>Robotics</subject><issn>2153-0858</issn><issn>2153-0866</issn><isbn>9781424402588</isbn><isbn>1424402581</isbn><isbn>9781424402595</isbn><isbn>142440259X</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2006</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNpVjE1rwkAURadfULHuC93MviS-N29mfFlKtFUIKNquw6iTOiVpShIq_fe1WIReuNzFOVwh7hFiREiG89ViHSsAGytWxuCFGCQjRq20BmUScyl6Cg1FwNZe_WPM12dm-FYM2vYdjqHEaOSeMEsXmugQWi9X_i20XeO6UH_IupA0GaZ1WTdy4jon175r5SF0ezlPl3fipnBl6wd_2xevT9OXdBZli-d5Os6iLQF0EWLCBJvR6NgNswW_BQ3E3heGNmCtIl0QkNHEiUdnQTtUO8O-4J3aIvXF4-l378r8swmVa77z2oV8Ns7yMjRVlQOgYsv89Ws_nOzgvT_rGgxrIvoBxX5WNg</recordid><startdate>200610</startdate><enddate>200610</enddate><creator>Douadi, L.</creator><creator>Aldon, M.-J.</creator><creator>Crosnier, A.</creator><general>IEEE</general><scope>6IE</scope><scope>6IH</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIO</scope><scope>1XC</scope><scope>VOOES</scope></search><sort><creationdate>200610</creationdate><title>Pair-wise Registration of 3D/Color Data Sets with ICP</title><author>Douadi, L. ; Aldon, M.-J. ; Crosnier, A.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c300t-119830b770b7b8860ec04038eef53b066234f30354389e1a604a12d58ef8d2c13</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2006</creationdate><topic>Application software</topic><topic>Color</topic><topic>color range images</topic><topic>Computer Science</topic><topic>Image reconstruction</topic><topic>Intelligent robots</topic><topic>Iterative algorithms</topic><topic>Iterative Closest Point</topic><topic>Iterative closest point algorithm</topic><topic>Iterative methods</topic><topic>Layout</topic><topic>model reconstruction</topic><topic>registration</topic><topic>Robot kinematics</topic><topic>Robot sensing systems</topic><topic>Robotics</topic><toplevel>online_resources</toplevel><creatorcontrib>Douadi, L.</creatorcontrib><creatorcontrib>Aldon, M.-J.</creatorcontrib><creatorcontrib>Crosnier, A.</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan (POP) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP) 1998-present</collection><collection>Hyper Article en Ligne (HAL)</collection><collection>Hyper Article en Ligne (HAL) (Open Access)</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Douadi, L.</au><au>Aldon, M.-J.</au><au>Crosnier, A.</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Pair-wise Registration of 3D/Color Data Sets with ICP</atitle><btitle>2006 IEEE/RSJ International Conference on Intelligent Robots and Systems</btitle><stitle>IROS</stitle><date>2006-10</date><risdate>2006</risdate><spage>663</spage><epage>668</epage><pages>663-668</pages><issn>2153-0858</issn><eissn>2153-0866</eissn><isbn>9781424402588</isbn><isbn>1424402581</isbn><eisbn>9781424402595</eisbn><eisbn>142440259X</eisbn><abstract>The ICP (iterative closest point) algorithm remains a very popular method for the registration of 3D data sets, when an initial guess of the relative pose between them is known. 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subjects	Application software Color color range images Computer Science Image reconstruction Intelligent robots Iterative algorithms Iterative Closest Point Iterative closest point algorithm Iterative methods Layout model reconstruction registration Robot kinematics Robot sensing systems Robotics
title	Pair-wise Registration of 3D/Color Data Sets with ICP
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