Rejestracja chmur punktów: porównanie wariantów wzajemnej rejestracji

pol Article in Polish DOI: 10.14313/PAR_224/5

Marta Jolanta Łępicka*, send Tomasz Kornuta** * Politechnika Warszawska, Instytut Automatyki i Informatyki Stosowanej ** IBM Research - Almaden, USA

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Streszczenie

W dwuczęściowym artykule skupiono uwagę na problemie rejestracji chmur punktów. W pierwszej części omówiono kluczowe komponenty systemu V-SLAM uzupełnione przykładowymi algorytmami i rozwiązaniami stosowanymi w tych komponentach. W poniższej, drugiej części omówiono różne rodzaje wariantów algorytmu ICP, atrybuty punktów oraz operujące na nich metryki. Następnie omówiono metodykę badań oraz przedstawiono wyniki porównania wybranych wariantów wzajemnej rejestracji.

Słowa kluczowe

chmura punktów, ICP, KAZE, obraz RGB-D, rejestracja, SIFT, wzajemne łączenie

Registration of RGB-D images: comparison of pairwise registration variants

Abstract

The two-part article focuses on the problem of registration of point clouds. The first part briefly discussed the main components of V-SLAM systems and presented the main steps of the ICP (Iterative Closes Point) algorithm. In the following, second part of the paper, we analyse and compare diverse variants of the ICP algorithm. In particular, we discuss different attributes of points along with operating on them metrics that the ICP can employ. Finally, we present the research methodology and discuss the results of comparison of selected variants of ICP.

Keywords

ICP, KAZE, pairwise registration, point cloud, RGB-D image, SIFT

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