TY - GEN
T1 - Color point cloud registration with 4D ICP algorithm
AU - Men, Hao
AU - Gebre, Biruk
AU - Pochiraju, Kishore
PY - 2011
Y1 - 2011
N2 - This paper presents methodologies to accelerate the registration of 3D point cloud segments by using hue data from the associated imagery. The proposed variant of the Iterative Closest Point (ICP) algorithm combines both normalized point range data and weighted hue value calculated from RGB data of an image registered 3D point cloud. A k-d tree based nearest neighbor search is used to associated common points in {x, y, z, hue} 4D space. The unknown rigid translation and rotation matrix required for registration is iteratively solved using Singular Value Decomposition (SVD) method. A mobile robot mounted scanner was used to generate color point cloud segments over a large area. The 4D ICP registration has been compared with typical 3D ICP and numerical results on the generated map segments shows that the 4D method resolves ambiguity in registration and converges faster than the 3D ICP.
AB - This paper presents methodologies to accelerate the registration of 3D point cloud segments by using hue data from the associated imagery. The proposed variant of the Iterative Closest Point (ICP) algorithm combines both normalized point range data and weighted hue value calculated from RGB data of an image registered 3D point cloud. A k-d tree based nearest neighbor search is used to associated common points in {x, y, z, hue} 4D space. The unknown rigid translation and rotation matrix required for registration is iteratively solved using Singular Value Decomposition (SVD) method. A mobile robot mounted scanner was used to generate color point cloud segments over a large area. The 4D ICP registration has been compared with typical 3D ICP and numerical results on the generated map segments shows that the 4D method resolves ambiguity in registration and converges faster than the 3D ICP.
UR - http://www.scopus.com/inward/record.url?scp=84871692703&partnerID=8YFLogxK
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U2 - 10.1109/ICRA.2011.5980407
DO - 10.1109/ICRA.2011.5980407
M3 - Conference contribution
AN - SCOPUS:84871692703
SN - 9781612843865
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 1511
EP - 1516
BT - 2011 IEEE International Conference on Robotics and Automation, ICRA 2011
T2 - 2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Y2 - 9 May 2011 through 13 May 2011
ER -