A test bench to improve registration using RGB-D sensors

Abstract

Depth cameras (rgb-d) can provide dense 3D point clouds at a high frequency. Using the icp algorithm, these point clouds can be matched to deduce the transformation between them and consequently the 6 degrees-of-freedom motion of the camera. This allows to build a tracker that can be used, for instance, as a front-end to a slam system. However, as shown by the large amount of papers recently published on icp, this algorithm has many variations, each of them depending on several parameters. To explore this large possibility space, we provide two contributions:

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