Robust Real-Time Registration of RGB-D Images using Multi-Resolution Surfel Representations
Conference: ROBOTIK 2012 - 7th German Conference on Robotics
05/21/2012 - 05/22/2012 at Munich, Germany
Proceedings: ROBOTIK 2012
Pages: 4Language: englishTyp: PDFPersonal VDE Members are entitled to a 10% discount on this title
Stückler, Jörg; Behnke, Sven (Autonomous Intelligent Systems, University of Bonn, Germany)
Fast and robust registration of 3D scans is required in many approaches to perception in robotics such as pose tracking or simultaneous localization and mapping. We propose a novel efficient method to register RGB-D images. We convert the image content into a multi-resolution surfel representation and exploit the dense image neighborhood to construct such views at high frame-rates on a single CPU. Our approach registers views using an efficient and robust variant of the Iterative Closest Points algorithm. We evaluate our method on a recently published benchmark dataset and achieve results beyond the state-of-the-art. We also report on the successful public demonstration of our method at RoboCup 2011.