Non-rigid registration and rectification of 3D laser scans

Autor(en): Elseberg, J.
Borrmann, D.
Lingemann, K.
Nüchter, A.
Stichwörter: 3D laser scan; Acquisition process; High-accuracy; Non-rigid transformation; Nonrigid registration; Range images; Range scanners; Systematical error; Three-dimensional point clouds, Deformation; Errors; Intelligent robots, Three dimensional
Erscheinungsdatum: 2010
Journal: IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
Startseite: 1546
Seitenende: 1552
Zusammenfassung: 
Three dimensional point clouds acquired by range scanners often do not represent the environment precisely due to noise and errors in the acquisition process. These latter systematical errors manifest as deformations of different kinds in the 3D range image. This paper presents a novel approach to correct deformations by an analysis of the structures present in the environment and correcting them by non-rigid transformations. The resulting algorithms are used for creating highaccuracy 3D indoor maps. ©2010 IEEE.
Beschreibung: 
Conference of 23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 ; Conference Date: 18 October 2010 Through 22 October 2010; Conference Code:83389
ISBN: 9781424466757
DOI: 10.1109/IROS.2010.5652278
Externe URL: https://www.scopus.com/inward/record.uri?eid=2-s2.0-78651512256&doi=10.1109%2fIROS.2010.5652278&partnerID=40&md5=257dcb5715404e4a5e93ab7b9cc6c528

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