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Authors: Liya Duan 1 ; Renxia Wu 2 ; Xin Wang 1 ; Yinghe Liu 3 ; Yongjie Ma 1 and Hui Fang 2

Affiliations: 1 Institute of Oceanographic Instrumentation, Qilu Univercity of Technology (Shandong Academy of Sciences), No.37 Miaoling Road, Qingdao and China, China ; 2 Institute of Coastal and Offshore Engineering, School of Engineering, Ocean University of China, No. 238 Songling Road, Qingdao and China, China ; 3 Institute of Oceanology, Chinese Academy of Sciences, No.7 Nanhai Road, Qingdao and China, China

Keyword(s): ICP, Optical Flow, ORB-SLAM, 3D Reconstruction .

Abstract: Dense 3D reconstruction is important for applications in many fields. The existing depth information based methods are typically constrained in their effective camera-object distance that should be from 0.4m to 4m. We present a combination of optical flow method and ICP method, and fuse this method and RGB-D camera ORB-SLAM to make full use of the color and depth data and refine the registration results that can achieve a more accurate dense 3D reconstruction. The experiment shows that this combination method is effective for the dense map acquisition.

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Paper citation in several formats:
Duan, L.; Wu, R.; Wang, X.; Liu, Y.; Ma, Y. and Fang, H. (2019). ORB-SLAM based ICP and Optical Flow Combination Registration Algorithm in 3D Dense Reconstruction. In Proceedings of the 2nd International Conference on Intelligent Manufacturing and Materials - ICIMM; ISBN 978-989-758-345-2, SciTePress, pages 537-541. DOI: 10.5220/0007535205370541

@conference{icimm19,
author={Liya Duan. and Renxia Wu. and Xin Wang. and Yinghe Liu. and Yongjie Ma. and Hui Fang.},
title={ORB-SLAM based ICP and Optical Flow Combination Registration Algorithm in 3D Dense Reconstruction},
booktitle={Proceedings of the 2nd International Conference on Intelligent Manufacturing and Materials - ICIMM},
year={2019},
pages={537-541},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0007535205370541},
isbn={978-989-758-345-2},
}

TY - CONF

JO - Proceedings of the 2nd International Conference on Intelligent Manufacturing and Materials - ICIMM
TI - ORB-SLAM based ICP and Optical Flow Combination Registration Algorithm in 3D Dense Reconstruction
SN - 978-989-758-345-2
AU - Duan, L.
AU - Wu, R.
AU - Wang, X.
AU - Liu, Y.
AU - Ma, Y.
AU - Fang, H.
PY - 2019
SP - 537
EP - 541
DO - 10.5220/0007535205370541
PB - SciTePress

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