Range Image Registration Using an Octree based Matching Strategy

Autonomous world modeling is one of the major topics in current robot research. A basic concept hereby is the registration of consecutive range images. Consistent models can only be built with robust registration methods. Already one incorrect registered range image will affect the following registrations and lead to an inconsistent model. Therefore we developed a robust ICP registration method based on an octree matching strategy. This matching strategy could cope with large odometry errors and achieved the generation of consistent 3D models.

[1]  Andrew E. Johnson,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).

[2]  K. Lingemann,et al.  6D SLAM - preliminary report on closing the loop in six dimensions , 2004 .

[3]  Michael A. Greenspan,et al.  Approximate k-d tree search for efficient ICP , 2003, Fourth International Conference on 3-D Digital Imaging and Modeling, 2003. 3DIM 2003. Proceedings..

[4]  Joachim Hertzberg,et al.  Heuristic-Based Laser Scan Matching for Outdoor 6D SLAM , 2005, KI.

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

[6]  Rüdiger Dillmann,et al.  A foveal 3D laser scanner integrating texture into range data , 2006, IAS.

[7]  Kari Pulli,et al.  Multiview registration for large data sets , 1999, Second International Conference on 3-D Digital Imaging and Modeling (Cat. No.PR00062).

[8]  Rüdiger Dillmann,et al.  Using Orthogonal Surface Directions for Autonomous 3D-Exploration of Indoor Environments , 2006, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems.

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

[10]  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).

[11]  Berthold K. P. Horn,et al.  Closed-form solution of absolute orientation using unit quaternions , 1987 .