Robust Registration of Kinect Range Data for Sensor Motion Estimation
[ 1 ] Instytut Automatyki i Inżynierii Informatycznej, Wydział Elektryczny, Politechnika Poznańska | [ P ] employee
2013
paper
english
EN This work concerns the problem of determining the rototranslation between two 3D data sets. The sensor being used is Kinect, which yields large amount of data, thus processing all the point clouds in real-time on a standard PC is impossible. Therefore we analyse and compare two approaches: the standard ICP algorithm, and a method that uses salient point features to reduce the amount of data. To obtain a range data registration procedure, which is both precise and robust to large displacements of the sensor we combine these two methods.
835 - 844
WoS (15)