NDLI: Tracking a depth camera: Parameter exploration for fast ICP

Content Provider	IEEE Xplore Digital Library
Author	Pomerleau, Francois Magnenat, Stephane Colas, Francis Liu, Ming Siegwart, Roland
Copyright Year	2011
Description	Author affiliation: Autonomous Systems Lab. - ETH Zurich, Tannenstr 3, 8092 Zürich, Switzerland (Pomerleau, Francois; Magnenat, Stephane; Colas, Francis; Liu, Ming; Siegwart, Roland)
Abstract	The increasing number of ICP variants leads to an explosion of algorithms and parameters. This renders difficult the selection of the appropriate combination for a given application. In this paper, we propose a state-of-the-art, modular, and efficient implementation of an ICP library. We took advantage of the recent availability of fast depth cameras to demonstrate one application example: a 3D pose tracker running at 30 Hz. For this application, we show the modularity of our ICP library by optimizing the use of lean and simple descriptors in order to ease the matching of 3D point clouds. This tracker is then evaluated using datasets recorded along a ground truth of millimeter accuracy. We provide both source code and datasets to the community in order to accelerate further comparisons in this field.
Starting Page	3824
Ending Page	3829
File Size	601561
Page Count	6
File Format	PDF
ISBN	9781612844541
ISSN	21530858
e-ISBN	9781612844565
DOI	10.1109/IROS.2011.6094861
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-09-25
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Iterative closest point algorithm Sensors Approximation methods Noise Complexity theory Three dimensional displays Accuracy
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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