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Utilization of Colour in ICP-based Point Cloud Registration

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

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 403))

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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Acknowledgments

The authors acknowledge the financial support of the National Centre for Research and Development grant no. PBS1/A3/8/2012.

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Authors and Affiliations

  1. Institute of Control and Computation Engineering, Warsaw University of Technology, Nowowiejska 15/19, 00-665, Warsaw, Poland

    Marta Łępicka, Tomasz Kornuta & Maciej Stefańczyk

Authors
  1. Marta Łępicka
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  2. Tomasz Kornuta
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  3. Maciej Stefańczyk
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Corresponding author

Correspondence to Marta Łępicka .

Editor information

Editors and Affiliations

  1. Department of Systems, Wrocław University of Technology, Wroclaw, Poland

    Robert Burduk

  2. Department of Systems and Computer, Wrocław University of Technology, Wroclaw, Poland

    Konrad Jackowski

  3. Department of Systems and Computer, Wrocław University of Technology, Wroclaw, Poland

    Marek Kurzyński

  4. Dept. of Systems and Computer Networks, Wrocław University of Technology, Wroclaw, Poland

    Michał Woźniak

  5. Department of Systems, Wrocław University of Technology, Wroclaw, Poland

    Andrzej Żołnierek

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Łępicka, M., Kornuta, T., Stefańczyk, M. (2016). Utilization of Colour in ICP-based Point Cloud Registration. In: Burduk, R., Jackowski, K., Kurzyński, M., Woźniak, M., Żołnierek, A. (eds) Proceedings of the 9th International Conference on Computer Recognition Systems CORES 2015. Advances in Intelligent Systems and Computing, vol 403. Springer, Cham. https://doi.org/10.1007/978-3-319-26227-7_77

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

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-26225-3

  • Online ISBN: 978-3-319-26227-7

  • eBook Packages: EngineeringEngineering (R0)

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