Отрывок: The hybrid approach combines frame-to-model registration with the increased stability provided by the use of both geometric and photometric cues. The hybrid odometry approach estimates transformation Ti for each frame i by minimizing the following function: R(Ti) = RICP (Ti) + λRRGBD(Ti), where RICP (Ti) is based on the point-to-plane error used in ICP algorithm: RICP (Ti) = ∑ (p,q)∈K ‖(p− Tiq) ⊤np‖ 2, with np is the surface normal at p and K is a...
Название : Accuracy analysis of 3D object reconstruction using RGB-D sensor
Авторы/Редакторы : Ruchay, A.N.
Dorofeev, K.A.
Kober, A.V.
Ключевые слова : RGB-D sensor
3D object reconstruction
Xtion Prо
Дата публикации : 2018
Издательство : Новая техника
Библиографическое описание : Ruchay A.N. Accuracy analysis of 3D object reconstruction using RGB-D sensor / A.N. Ruchay, K.A. Dorofeev, A.V. Kober // Сборник трудов IV международной конференции и молодежной школы «Информационные технологии и нанотехнологии» (ИТНТ-2018) - Самара: Новая техника, 2018. - С.1227-1232
Аннотация : In this paper, we propose a new method for 3D object reconstruction using RGB-D sensor. The RGB-D sensor provides RGB images as well as depth images. Since the depth and RGB color images are captured with one sensor of a RGB-D camera placed in different locations, the depth image should be related to the color image. After matching of the images (registration), point-to-point corresponding between two images is found, and they can be combined and represented in the 3D space. In order to obtain a dense 3D map of the 3D object, we design an algorithm for merging information from all used cameras. First, features extracted from color and depth images are used to localize them in a 3D scene. Next, Iterative Closest Point (ICP) algorithm is used to align all frames. As a result, a new frame is added to the dense 3D model. However, the spatial distribution and resolution of depth data affect to the performance of 3D scene reconstruction system based on ICP. The presented computer simulation results show an improvement in accuracy of 3D object reconstruction using real data.
URI (Унифицированный идентификатор ресурса) : http://repo.ssau.ru/handle/Informacionnye-tehnologii-i-nanotehnologii/Accuracy-analysis-of-3D-object-reconstruction-using-RGBD-sensor-69192
Другие идентификаторы : Dspace\SGAU\20180514\69192
Располагается в коллекциях: Информационные технологии и нанотехнологии

Файлы этого ресурса:
Файл Описание Размер Формат  
paper_161.pdfОсновная статья1.76 MBAdobe PDFПросмотреть/Открыть

Все ресурсы в архиве электронных ресурсов защищены авторским правом, все права сохранены.