Real-time 3D registration of stereo-vision based range images using GPU

Soon Yong Park, Sung In Choi, Jaekyoung Moon, Joon Kim, Yong Woon Park

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

2 Scopus citations

Abstract

3D registration is a computer vision technique of aligning multi-view range images with respect to a reference coordinate system. Aligning range images is an important and time-complex step in complete 3D reconstruction. In this paper, we propose a real-time 3D registration technique by employing the accelerated computing power of GPU (Graphic Processing Unit). In the proposed technique, complete steps of a point-to-plane 3D registration technique are implemented using CUDA, an up-to-date GPU programming technique. Using a hand-held stereo-vision sensor, we apply the proposed technique to scan real objects. Registration of a pair of range images which size is 320 × 240 takes about 60 milliseconds in average. Results of 3D model reconstruction and processing time analysis are shown in experiments.

Original languageEnglish
Title of host publication2009 Workshop on Applications of Computer Vision, WACV 2009
DOIs
StatePublished - 2009
Event2009 Workshop on Applications of Computer Vision, WACV 2009 - Snowbird, UT, United States
Duration: 7 Dec 20098 Dec 2009

Publication series

Name2009 Workshop on Applications of Computer Vision, WACV 2009

Conference

Conference2009 Workshop on Applications of Computer Vision, WACV 2009
Country/TerritoryUnited States
CitySnowbird, UT
Period7/12/098/12/09

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