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2016 | OriginalPaper | Chapter

Utilization of Colour in ICP-based Point Cloud Registration

Authors : Marta Łępicka, Tomasz Kornuta, Maciej Stefańczyk

Published in: Proceedings of the 9th International Conference on Computer Recognition Systems CORES 2015

Publisher: Springer International Publishing

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Abstract

Advent of RGB-D sensors fostered the progress of computer vision algorithms spanning from object recognition, object and scene modelling to human activity recognition. This paper presents a new flavour of ICP algorithm developed for the purpose of pair-wise registration of colour point clouds generated from RGB-D images. After a brief introduction to the registration problem, we analyze the ICP algorithm and survey its different flavours in order to indicate potential methods of injecting of colour into it. Our consideration led to a solution, which we validate experimentally on colour point clouds from the publicly available dataset.

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Metadata
Title
Utilization of Colour in ICP-based Point Cloud Registration
Authors
Marta Łępicka
Tomasz Kornuta
Maciej Stefańczyk
Copyright Year
2016
Book
Proceedings of the 9th International Conference on Computer Recognition Systems CORES 2015

Print ISBN: 978-3-319-26225-3

Electronic ISBN: 978-3-319-26227-7

Copyright Year: 2016

DOI
https://doi.org/10.1007/978-3-319-26227-7_77

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