NDLI: Shape reconstruction from multiple RGB-D point cloud registration

Content Provider	IEEE Xplore Digital Library
Author	Takimoto, R.Y. Tsuzuki, M.S.G. Vogelaar, R. Martins, T.C. Iwao, Y. Gotoh, T. Kagei, S. Gallo, G.B. Garcia, M.A.A. Tiba, H.
Copyright Year	2014
Description	Author affiliation: Comput. Geometry Lab., Escola Politec. da USP, Sao Paulo, Brazil (Takimoto, R.Y.; Tsuzuki, M.S.G.; Vogelaar, R.; Martins, T.C.) \|\| Companhia Energetica do Estado de Sao Paulo, Sao Paulo, Brazil (Gallo, G.B.; Garcia, M.A.A.; Tiba, H.) \|\| Yokohama Nat. Univ., Yokohama, Japan (Iwao, Y.; Gotoh, T.; Kagei, S.)
Abstract	The objective of this work is to present an object 3D reconstruction method using the point color information. The object 3D reconstruction is performed by combining point clouds obtained from different viewpoints using two cameras and a structured light projector. The main task is the point cloud registration algorithm that matches two point clouds. A well known algorithm for point cloud registration is the ICP (Iterative Closest Point) that determines the rotation and translation that when applied to one of the point clouds, place both point clouds in accordance. The ICP algorithm executes iteratively two main steps: point correspondence determination and registration algorithm. The point correspondence determination is a module that if not executed properly can make the ICP to converge to a local minimum. To overcome such drawback an ICP that uses statistics to generate a dynamic distance and color threshold on the distance allowed between closest points is proposed and implemented. This approach allows subset matches, instead of matching all points from the point clouds. The surface reconstruction is performed using Marching Cubes and a consensus surface algorithm with signed distance compensates point cloud errors. In this paper the performance of the proposed method is analyzed and compared with the classical ICP.
Sponsorship	IEEE Ind. Electron. Soc.
Starting Page	349
Ending Page	352
File Size	591148
Page Count	4
File Format	PDF
ISBN	9781479949052
DOI	10.1109/INDIN.2014.6945537
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-07-27
Publisher Place	Brazil
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Surface reconstruction Three-dimensional displays Iterative closest point algorithm Image color analysis Computational modeling Sensors Image reconstruction
Content Type	Text
Resource Type	Article

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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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