Pair-wise Registration of 3D/Color data sets with ICP

Abstract : The ICP (Iterative Closest Point) algorithm remains a very popular method for the registration of 3D data sets, when an initial guess of the relative pose between them is known. The purpose of the work presented in this paper is to improve performance of classical ICP. We address, here, the problem of pair-wise registration of color range images. Many variants of ICP have been proposed for the registration of 3D data sets. However, there are only a few solutions dealing with color range images. In this paper, we have adapted some variants of ICP to take into account color information in the closest point research. Two approaches of color data integration have been evaluated with real 3D/Color data sets.
Type de document :
Communication dans un congrès
IROS: International Conference on Intelligent Robots and Systems, Oct 2006, Beijing, China. IEEE/RSJ, 2006
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Soumis le : vendredi 2 février 2007 - 11:39:02
Dernière modification le : jeudi 24 mai 2018 - 15:59:24
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  • HAL Id : lirmm-00128688, version 1

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Lounis Douadi, Marie-José Aldon, André Crosnier. Pair-wise Registration of 3D/Color data sets with ICP. IROS: International Conference on Intelligent Robots and Systems, Oct 2006, Beijing, China. IEEE/RSJ, 2006. 〈lirmm-00128688〉

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