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Authors: Michael Korn ; Martin Holzkothen and Josef Pauli

Affiliation: Universität Duisburg-Essen, Germany

Keyword(s): Iterative Closest Point (ICP), Generalized-ICP (GICP), Point Cloud Registration.

Related Ontology Subjects/Areas/Topics: Applications ; Computer Vision, Visualization and Computer Graphics ; Geometry and Modeling ; Image and Video Analysis ; Image Registration ; Image-Based Modeling ; Motion, Tracking and Stereo Vision ; Pattern Recognition ; Robotics ; Software Engineering ; Tracking and Visual Navigation

Abstract: This paper presents a method to support point cloud registration with color information. For this purpose we integrate L*a*b* color space information into the Generalized Iterative Closest Point (GICP) algorithm, a state-of-the-art Plane-To-Plane ICP variant. A six-dimensional k-d tree based nearest neighbor search is used to match corresponding points between the clouds. We demonstrate that the additional effort in general does not have an immoderate impact on the runtime, since the number of iterations can be reduced. The influence on the estimated 6 DoF transformations is quantitatively evaluated on six different datasets. It will be shown that the modified algorithm can improve the results without needing any special parameter adjustment.

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Paper citation in several formats:
Korn, M.; Holzkothen, M. and Pauli, J. (2014). Color Supported Generalized-ICP. In Proceedings of the 9th International Conference on Computer Vision Theory and Applications (VISIGRAPP 2014) - Volume 3: VISAPP; ISBN 978-989-758-009-3; ISSN 2184-4321, SciTePress, pages 592-599. DOI: 10.5220/0004692805920599

@conference{visapp14,
author={Michael Korn. and Martin Holzkothen. and Josef Pauli.},
title={Color Supported Generalized-ICP},
booktitle={Proceedings of the 9th International Conference on Computer Vision Theory and Applications (VISIGRAPP 2014) - Volume 3: VISAPP},
year={2014},
pages={592-599},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004692805920599},
isbn={978-989-758-009-3},
issn={2184-4321},
}

TY - CONF

JO - Proceedings of the 9th International Conference on Computer Vision Theory and Applications (VISIGRAPP 2014) - Volume 3: VISAPP
TI - Color Supported Generalized-ICP
SN - 978-989-758-009-3
IS - 2184-4321
AU - Korn, M.
AU - Holzkothen, M.
AU - Pauli, J.
PY - 2014
SP - 592
EP - 599
DO - 10.5220/0004692805920599
PB - SciTePress

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