Registration of dsm and range images for 3-D pose estimation of an unmanned ground vehicle

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

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

Abstract

In this paper, we propose a new approach which registers a range image which is acquired from a 3-D range sensor to a DSM to estimate the 3-D pose of an unmanned ground vehicle. Generally, 3-D registration is divided into two parts that called as coarse and refinement steps. Above all, a proper feature matching technique is demanded between the DSM and the range image for the coarse registration to register precisely and speedy. We generated signatures using shape parameterization about the DSM and the range images and got a 3-D rigid transformation by matching them to minimize registration error.

Original languageEnglish
Title of host publicationVISAPP 2009 - Proceedings of the 4th International Conference on Computer Vision Theory and Applications
Pages507-511
Number of pages5
StatePublished - 2009
Event4th International Conference on Computer Vision Theory and Applications, VISAPP 2009 - Lisboa, Portugal
Duration: 5 Feb 20098 Feb 2009

Publication series

NameVISAPP 2009 - Proceedings of the 4th International Conference on Computer Vision Theory and Applications
Volume2

Conference

Conference4th International Conference on Computer Vision Theory and Applications, VISAPP 2009
Country/TerritoryPortugal
CityLisboa
Period5/02/098/02/09

Keywords

  • 3-D registration
  • DSM
  • Post estimation
  • Unmanned ground vehicle

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