An efficient RGB-D camera based point cloud registration algorithm

This paper proposes an indoor scene three-dimensional (3D) reconstruction system using pan-tilt platform and RGB-D camera. The proposed system can automatically reconstruct 3D indoor scenes on a fixed position. An efficient point cloud registration algorithm is proposed to align point clouds based o...

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Bibliographic Details
Published in2017 International Conference on Applied System Innovation (ICASI) pp. 558 - 561
Main Authors Chih-Hung Huang, Shang-Jhih Jhang, Chi-Yi Tsai
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.05.2017
Subjects
Calibration
Cameras
Image reconstruction
Image registration
Iterative closest point algorithm
Matrix converters
multi-view calibration
point cloud alignment
RGB-D cameras
Robot vision systems
scene reconstruction
Three-dimensional displays
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Summary:This paper proposes an indoor scene three-dimensional (3D) reconstruction system using pan-tilt platform and RGB-D camera. The proposed system can automatically reconstruct 3D indoor scenes on a fixed position. An efficient point cloud registration algorithm is proposed to align point clouds based on extrinsic parameters of the RGB-D camera from every presetted pan-tilt control points. Then, a local registration method is performed to refine the alignment result. Experimental results verify the quality and efficiency of the proposed point cloud alignment algorithm by comparing with a state-of-the-art method.
DOI:10.1109/ICASI.2017.7988482