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학술대회 3D Environment Reconstruction Using Modified Color ICP Algorithm by Fusion of a Camera and a 3D Laser Range Finder
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정지훈, 안광호, 강정원, 정명진, 유원필
International Conference on Intelligent Robots and Systems (IROS) 2009, pp.3082-3088
09MC3200, u-Robot 인지인프라 기술개발(주관 : u-City 환경기반 하이브리드 u-로봇 서비스 시스템 기술개발), 유원필
In this paper, we propose a system which reconstructs the environment with both color and 3D information. We perform extrinsic calibration of a camera and a LRF (Laser Range Finder) to fuse 3D information and color information of objects. We also formularize an equation to measure the result of the calibration. Moreover, we acquire 3D data by rotating 2D LRF with camera, and use ICP (Iterative Closest Point) algorithm to combine data acquired in other places. We use the SIFT (Scale Invariant Feature Transform) matching for the initial estimation of ICP algorithm. It offers accurate and stable initial estimation robust to motion change compare to odometry. We also modify the ICP algorithm using color information. Computation time of ICP algorithm can be reduced by using color information. © 2009 IEEE.
KSP 제안 키워드
3D data, 3D environment reconstruction, 3D information, 3D laser range finder, Color information, ICP algorithm, computation time, extrinsic calibration, iterative closest point, scale invariant feature transform(SIFT)