Abstract
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.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Besl, P.J., McKay, N.D.: A Method for Registration of 3-D Shapes. IEEE Trans. on Pattern Analysis and Machine Intell. 14(2), 239–256 (1992)
Endres, F., Hess, J., Engelhard, N., Sturm, J., Cremers, D., Burgard, W.: An Evaluation of the RGB-D SLAM System. In: Proc. IEEE Int. Conf. on Robot. and Automat., pp. 1691–1696. St. Paul (2012)
Fallon, M., Johannsson, H., Brookshire, J., Teller, S., Leonard, J.: Sensor Fusion for Flexible Human-Portable Building-Scale Mapping. In: Proc. IEEE/RSJ Int. Conf. on Intell. Robots and Systems, Vilamoura, pp. 4405–4412 (2012)
Fraundorfer, F., Scaramuzza, D.: Visual Odometry: Part II - Matching, Robustness and Applications. IEEE Robotics and Automation Magazine 19(2), 78–90 (2012)
Izadi, S.: KinectFusion: Real-Time 3D Reconstruction and Interaction Using a Moving Depth Camera. In: ACM Symp. on User Interface Software and Technology, New York, pp. 559–568 (2011)
Kabsch, W.: A Solution of the Best Rotation to Relate Two Sets of Vectors. Acta Crystallographica 32, 922 (1976)
The Kinect Effect – How the World is Using Kinect (2012), http://www.xbox.com/en-GB/kinect/kinect-effect
Lowe, D.G.: Distinctive Image Features from Scale-Invariant Keypoints. Int. Journal of Computer Vision 60(2), 91–110 (2004)
Nowicki, M., Skrzypczyński, P.: Experimental Verification of a Walking Robot Self-Localization System with the Kinect Sensor, Prace Naukowe Politechniki Warszawskiej – Elektronika. Postȩpy robotyki, Warsaw, pp. 561–572 (2012) (in Polish)
Nüchter, N., Feyzabadi, S., Qiu, D., May, S.: SLAM à la Carte – GPGPU for Globally Consistent Scan Matching. In: Proc. 5th European Conf. on Mobile Robots (ECMR), Örebro, pp. 271–276 (2011)
Rusinkiewicz, S., Levoy, M.: Eficient Variants of the ICP Algorithm. In: Proc. 3rd Int. Conf. on 3D Digital Imaging and Modeling, Quebec, pp. 145–152 (2001)
Rusu, R.B., Cousins, S.: 3D is Here: Point Cloud Library (PCL). In: Proc. IEEE Int. Conf. on Robot. and Automat., Shanghai., pp. 1–4 (2011)
Segal, A., Haehnel, D., Thrun, S.: Generalized-ICP. In: Proc. of Robotics: Science and Systems, Seattle (2009)
Steder, B., Rusu, R.B., Konolige, K., Burgard, W.: Point Feature Extraction on 3D Range Scans Taking Into Account Object Boundaries. In: Proc. IEEE Int. Conf. on Robot. and Automat., Shanghai, pp. 2601–2608 (2011)
Stoyanov, T., Louloudi, A., Andreasson, H., Lilienthal, A.: Comparative Evaluation of Range Sensor Accuracy in Indoor Environments. In: Proc. 5th European Conf. on Mobile Robots (ECMR), Örebro, pp. 19–24 (2011)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2013 Springer International Publishing Switzerland
About this paper
Cite this paper
Nowicki, M., Skrzypczyński, P. (2013). Robust Registration of Kinect Range Data for Sensor Motion Estimation. In: Burduk, R., Jackowski, K., Kurzynski, M., Wozniak, M., Zolnierek, A. (eds) Proceedings of the 8th International Conference on Computer Recognition Systems CORES 2013. Advances in Intelligent Systems and Computing, vol 226. Springer, Heidelberg. https://doi.org/10.1007/978-3-319-00969-8_82
Download citation
DOI: https://doi.org/10.1007/978-3-319-00969-8_82
Publisher Name: Springer, Heidelberg
Print ISBN: 978-3-319-00968-1
Online ISBN: 978-3-319-00969-8
eBook Packages: EngineeringEngineering (R0)