Color Constrained ICP for Registration of Large Unstructured 3D Color Data Sets

摘要：

In this paper,we address the problem of pair-wise registration of large unstructured 3D/color datasets. Our purpose is improve the calssical ICP (Iterative Closest Point) algorithm by using color information,in order to deal with large datasets and with objects for which the geometric information is not significant enough.After a brief presentation of classical ICP (Iterative Closest Point) algorithm and of the research works developed to improve its performance,we propose a new strategy to improve the selection of points.Color information is used to reduce the search space during the matching step.Experimental results obtained with real range images show that the algorithm provides an accurate estimation of the rigid transformation.

关键词： registration ICP Color unstructured 3D data

作者: S.Druon M.J.Aldon A.Crosnier

作者单位: University of Montpellier 2-CNRS Laboratoire dInformatique,de Microélectronique de Montpellier 161 rue Ada,34392 MONTPELLIER-FRANCE

会议类型: 国际会议

会议名称: 2006 IEEE International Conference on Information Acquisition

会议地点: 山东威海

会议语种:英文

页码: 249-255

在线出版日期: 2006-08-20（万方平台首次上网日期，不代表论文的发表时间）