Henrik Andreasson and Achim J. Lilienthal
Vision Aided 3D Laser Based Registration
Proc. European Conference on Mobile Robots (ECMR), 2007, pp. 192-197
Abstract: This paper describes a vision and 3D laser based registration approach which utilizes visual features to identify correspondences. Visual features are obtained from the images of a standard color camera and the depth of these features is determined by interpolating between the scanning points of a 3D laser range scanner, taking into consideration the visual information in the neighbourhood of the respective visual feature. The 3D laser scanner is also used to determine a position covariance estimate of the visual feature. To exploit these covariance estimates, an ICP algorithm based on the Mahalanobis distance is applied. Initial experimental results are presented in a real world indoor laboratory environment.
Keywords: Registration, Vision.
Paper: [PDF (0.6MB)]
Presentation: [PDF (14.3MB)]
  AUTHOR = {Andreasson, Henrik and Lilienthal, Achim J.},
  TITLE = {Vision Aided 3D Laser Based Registration},
  BOOKTITLE = {Proceedings of the European Conference on Mobile Robots (ECMR)},
  YEAR = {2007},
  DATE = {September 19--21},
  ADRESS = {Freiburg, Germany},
  PAGES = {192--197}