Color supported generalized-ICP

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.

[1]  S. Druon,et al.  Color Constrained ICP for Registration of Large Unstructured 3D Color Data Sets , 2006, 2006 IEEE International Conference on Information Acquisition.

[2]  Marc Levoy,et al.  Efficient variants of the ICP algorithm , 2001, Proceedings Third International Conference on 3-D Digital Imaging and Modeling.

[3]  David Fofi,et al.  A review of recent range image registration methods with accuracy evaluation , 2007, Image Vis. Comput..

[4]  Sing Bing Kang,et al.  Registration and integration of textured 3-D data , 1997, Proceedings. International Conference on Recent Advances in 3-D Digital Imaging and Modeling (Cat. No.97TB100134).

[5]  Gonzalo Pajares,et al.  Digital Image Sensor-Based Assessment of the Status of Oat (Avena sativa L.) Crops after Frost Damage , 2011, Sensors.

[6]  Jon Louis Bentley,et al.  Multidimensional binary search trees used for associative searching , 1975, CACM.

[7]  Georgios S. Paschos,et al.  Perceptually uniform color spaces for color texture analysis: an empirical evaluation , 2001, IEEE Trans. Image Process..

[8]  Wolfram Burgard,et al.  A benchmark for the evaluation of RGB-D SLAM systems , 2012, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[9]  Zhengyou Zhang,et al.  Iterative point matching for registration of free-form curves and surfaces , 1994, International Journal of Computer Vision.

[10]  Paul J. Besl,et al.  A Method for Registration of 3-D Shapes , 1992, IEEE Trans. Pattern Anal. Mach. Intell..

[11]  Hao Men,et al.  Color point cloud registration with 4D ICP algorithm , 2011, 2011 IEEE International Conference on Robotics and Automation.

[12]  Radu Bogdan Rusu,et al.  3D is here: Point Cloud Library (PCL) , 2011, 2011 IEEE International Conference on Robotics and Automation.

[13]  Myung Jin Chung,et al.  3D environment reconstruction using modified color ICP algorithm by fusion of a camera and a 3D laser range finder , 2009, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems.