Authors:
Sung-In Choi
1
;
Soon-Yong Park
1
;
Jaekyoung Moon
1
;
Jun Kim
2
and
Yong-Woon Park
2
Affiliations:
1
Kyungpook National University, Korea, Republic of
;
2
Agency for Defense Development, Korea, Republic of
Keyword(s):
3-D Registration, Unmanned Ground Vehicle, DSM, Post Estimation.
Related
Ontology
Subjects/Areas/Topics:
Active and Robot Vision
;
Computer Vision, Visualization and Computer Graphics
;
Matching Correspondence and Flow
;
Motion, Tracking and Stereo Vision
Abstract:
In this paper, we propose a new approach which registers a range image which is acquired from a 3-D range sensor to a DSM to estimate the 3-D pose of an unmanned ground vehicle. Generally, 3-D registration is divided into two parts that called as coarse and refinement steps. Above all, a proper feature matching technique is demanded between the DSM and the range image for the coarse registration to register precisely and speedy. We generated signatures using shape parameterization about the DSM and the range images and got a 3-D rigid transformation by matching them to minimize registration error.