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RGB-D point cloud registration via infrared and color camera

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Abstract

The iterative closest point (ICP) algorithm is widely used for rigid registration for its simplicity and speed, but the registration is easy to fail when point sets lack of obvious structure variety, such as smooth surface and hemisphere. RGB-D information obtained from infrared camera and color camera could use color information to compensate the shapes, so we propose a precise new algorithm for RGB-D point cloud registration, which is an extension of ICP algorithm. First of all, we introduce the color information as a constraint condition to establish correct correspondences between point clouds. Secondly, to reduce the impact of noises and outliers, we use maximum correntropy criterion (MCC) to increase the robustness and accuracy. Thirdly, we add both color information and correntropy into our objective function model and solve it with ICP algorithm. Finally, the compared experiments on simulation and real datasets prove that our algorithm can align two smooth surfaces more accurate and robust than other point set registration algorithms.

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Acknowledgements

This work was supported by the National Natural Science Foundation of China under Grant Nos. 61627811 and 61573274, the Fundamental Research Funds for the Central Universities under Grant Nos. xjj2017005 and xjj2017036, Fujian Provincial Key Laboratory of Information Processing and Intelligent Control (Minjiang University) under Grant No. MJUKF-IPIC201802.

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Authors and Affiliations

  1. Institute of Artificial Intelligence and Robotics, School of Electronic and Information Engineering, Xi’an Jiaotong University, Xi’an, Shaanxi Province, 710049, People’s Republic of China

    Teng Wan, Shaoyi Du, Yiting Xu, Guanglin Xu & Badong Chen

  2. Fujian Provincial Key Laboratory of Information Processing and Intelligent Control, Minjiang University, Fuzhou, 350121, People’s Republic of China

    Teng Wan, Shaoyi Du & Zuoyong Li

  3. School of Software, Tsinghua University, Beijing, 100084, People’s Republic of China

    Yue Gao

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  1. Teng Wan
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  2. Shaoyi Du
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  3. Yiting Xu
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  4. Guanglin Xu
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  5. Zuoyong Li
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  7. Yue Gao
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Correspondence to Shaoyi Du.

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Wan, T., Du, S., Xu, Y. et al. RGB-D point cloud registration via infrared and color camera. Multimed Tools Appl 78, 33223–33246 (2019). https://doi.org/10.1007/s11042-019-7159-6

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  • DOI: https://doi.org/10.1007/s11042-019-7159-6

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