Inter frame point clouds registration algorithm for pose optimization of depth camera

被引：0
|
作者：
Li X.-D. [1 ,3 ]
Gao H.-W. [1 ]
Sun L. [2 ,3 ]
机构：
[1] College of Mechanical and Electrical Engineering, Northeast Forestry University, Harbin
[2] College of Forestry, Northeast Forestry University, Harbin
[3] Northern Forest Fire Management Key Laboratory of the State Forestry and Grassland Bureau, Northeast Forestry University, Harbin
来源：
Zhejiang Daxue Xuebao (Gongxue Ban)/Journal of Zhejiang University (Engineering Science) | 2019年 / 53卷 / 09期
关键词：
3D vision; Graph-based structure; Inter frame registration; Pose; Time of flight (TOF) camera;
D O I：
10.3785/j.issn.1008-973X.2019.09.014
中图分类号：
学科分类号：
摘要：
TOF (time of flight) camera can collect gray and depth images simultaneously to optimize the estimation of camera pose. Graph-based adjustment structure was applied to optimize the poses of the TOF camera in acquiring several frames. Registration between frames is a key operation which determines both the efficiency and effectiveness of the camera pose optimization. Scale invariant features were detected from a pair of images and matched subsequently. After the 2D feature points were extended into 3D space, two point clouds were registered in terms of relative positions between the features and the normal 3D points. Among all of the point clouds participating in the optimization of camera pose, any two point clouds were registered pair by pair using the proposed registering method. Lastly, the graph based algorithm was employed to adjust the camera poses, with inputs of the valid pairs of registered point clouds. Results demonstrated that the proposed method can improve the precision of the optimized camera pose, and the estimating efficiency is guaranteed. © 2019, Zhejiang University Press. All right reserved.
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页码：1749 / 1758
页数：9
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