Utilization of Colour in ICP-based Point Cloud Registration

  • Marta Łępicka
  • Tomasz Kornuta
  • Maciej Stefańczyk
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 403)

Abstract

Advent of RGB-D sensors fostered the progress of computer vision algorithms spanning from object recognition, object and scene modelling to human activity recognition. This paper presents a new flavour of ICP algorithm developed for the purpose of pair-wise registration of colour point clouds generated from RGB-D images. After a brief introduction to the registration problem, we analyze the ICP algorithm and survey its different flavours in order to indicate potential methods of injecting of colour into it. Our consideration led to a solution, which we validate experimentally on colour point clouds from the publicly available dataset.

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Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  • Marta Łępicka
    • 1
  • Tomasz Kornuta
    • 1
  • Maciej Stefańczyk
    • 1
  1. 1.Institute of Control and Computation EngineeringWarsaw University of TechnologyWarsawPoland

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