3D registration in dark environments using RGB-D cameras

Yousif, K, Bab-Hadiashar, A and Hoseinnezhad, R 2013, '3D registration in dark environments using RGB-D cameras', in Proceedings of the International Conference on Digital Image Computing: Techniques and Applications (DICTA 2013), Hobart, Australia, 26-28 November 2013, pp. 51-59.


Document type: Conference Paper
Collection: Conference Papers

Title 3D registration in dark environments using RGB-D cameras
Author(s) Yousif, K
Bab-Hadiashar, A
Hoseinnezhad, R
Year 2013
Conference name DICTA 2013
Conference location Hobart, Australia
Conference dates 26-28 November 2013
Proceedings title Proceedings of the International Conference on Digital Image Computing: Techniques and Applications (DICTA 2013)
Publisher IEEE
Place of publication United States
Start page 51
End page 59
Total pages 9
Abstract This paper presents a new approach to align corresponding 3D points obtained by different frames in environments with varied illumination using an RGB-D camera (Microsoft Kinect). Our method switches between the RGB and IR images for feature extraction based on the brightness level of the images. The corresponding visual features are matched using their descriptors and outliers (false matches) are removed using a rank ordered statistics based robust estimation approach. The estimated 3D transformations are finally refined using an Iterative Closest Point (ICP) approach. We show that our method is able to obtain accurate transformation estimation between frames in dark environments (typical office environments with no artificial lighting). We finally present a real-time Visual Odometry (VO) system that concatenates the estimated camera transformations between sequential frames and obtains a global camera pose estimate with respect to a fixed reference frame that outperforms the state-of-the-art methods in both lit and dark environments.
Subjects Computer Vision
Keyword(s) 3D transformations
Artificial lighting
Iterative closest point
Office environments
Ordered statistics
Robust estimation
State-of-the-art methods
Transformation estimation
DOI - identifier 10.1109/DICTA.2013.6691470
Copyright notice Copyright © 2013 by the Institute of Electrical and Electronic Engineers, Inc. All rights reserved.
ISBN 9781479921287
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