Coarse to fine global RGB-D frames registration for precise indoor 3D model reconstruction

Walid Darwish, Wenbin Li, Shengjun Tang, Wu Chen

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

3 Citations (Scopus)

Abstract

The conventional approach to register two or more RGB-D frames produced from low cost depth sensors, such as KINECT and Structure Sensor, applies SIFT matched points between color images along with corresponding depth from the depth images. This is known as RGB-D SLAM. This method depends on ICP concept to refine the sensor pose after estimating it from SIFT depth points. In this research, we propose a new registration method and a new description function to add line feature matching in RGB-D frame registration. The qualitative and quantitative assessments of the proposed procedure show a significant improvement in 3D model quality and precision with the proposed new registration method.

Original languageEnglish
Title of host publication2017 International Conference on Localization and GNSS, ICL-GNSS 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1-5
Number of pages5
ISBN (Electronic)9781538622179
DOIs
Publication statusPublished - 8 Jun 2018
Event2017 International Conference on Localization and GNSS, ICL-GNSS 2017 - Nottingham, United Kingdom
Duration: 27 Jun 201729 Jun 2017

Publication series

Name2017 International Conference on Localization and GNSS, ICL-GNSS 2017

Conference

Conference2017 International Conference on Localization and GNSS, ICL-GNSS 2017
Country/TerritoryUnited Kingdom
CityNottingham
Period27/06/1729/06/17

Keywords

  • Line Detection
  • Matching
  • RGB-D sensors
  • RGB-D SLAM

ASJC Scopus subject areas

  • Aerospace Engineering
  • Control and Optimization
  • Computer Networks and Communications

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