μ-MAR: Multiplane 3D Marker based Registration for depth-sensing cameras

Empreu sempre aquest identificador per citar o enllaçar aquest ítem http://hdl.handle.net/10045/49529
Información del item - Informació de l'item - Item information
Títol: μ-MAR: Multiplane 3D Marker based Registration for depth-sensing cameras
Autors: Saval-Calvo, Marcelo | Azorin-Lopez, Jorge | Fuster-Guilló, Andrés | Mora, Higinio
Grups d'investigació o GITE: Informática Industrial y Redes de Computadores
Centre, Departament o Servei: Universidad de Alicante. Departamento de Tecnología Informática y Computación
Paraules clau: RGB-D sensor | Registration | Model-based | Multiplane | Object reconstruction
Àrees de coneixement: Arquitectura y Tecnología de Computadores
Data de publicació: 15-de desembre-2015
Editor: Elsevier
Citació bibliogràfica: Expert Systems with Applications. 2015, 42(23): 9353-9365. doi:10.1016/j.eswa.2015.08.011
Resum: Many applications including object reconstruction, robot guidance, and. scene mapping require the registration of multiple views from a scene to generate a complete geometric and appearance model of it. In real situations, transformations between views are unknown and it is necessary to apply expert inference to estimate them. In the last few years, the emergence of low-cost depth-sensing cameras has strengthened the research on this topic, motivating a plethora of new applications. Although they have enough resolution and accuracy for many applications, some situations may not be solved with general state-of-the-art registration methods due to the signal-to-noise ratio (SNR) and the resolution of the data provided. The problem of working with low SNR data, in general terms, may appear in any 3D system, then it is necessary to propose novel solutions in this aspect. In this paper, we propose a method, μ-MAR, able to both coarse and fine register sets of 3D points provided by low-cost depth-sensing cameras, despite it is not restricted to these sensors, into a common coordinate system. The method is able to overcome the noisy data problem by means of using a model-based solution of multiplane registration. Specifically, it iteratively registers 3D markers composed by multiple planes extracted from points of multiple views of the scene. As the markers and the object of interest are static in the scenario, the transformations obtained for the markers are applied to the object in order to reconstruct it. Experiments have been performed using synthetic and real data. The synthetic data allows a qualitative and quantitative evaluation by means of visual inspection and Hausdorff distance respectively. The real data experiments show the performance of the proposal using data acquired by a Primesense Carmine RGB-D sensor. The method has been compared to several state-of-the-art methods. The results show the good performance of the μ-MAR to register objects with high accuracy in presence of noisy data outperforming the existing methods.
Patrocinadors: This work has been supported by grant University of Alicante projects GRE11-01 and grant Valencian Government GV/2013/005.
URI: http://hdl.handle.net/10045/49529
ISSN: 0957-4174 (Print) | 1873-6793 (Online)
DOI: 10.1016/j.eswa.2015.08.011
Idioma: eng
Tipus: info:eu-repo/semantics/article
Drets: © 2015 Elsevier Ltd.
Revisió científica: si
Versió de l'editor: http://dx.doi.org/10.1016/j.eswa.2015.08.011
Apareix a la col·lecció: INV - I2RC - Artículos de Revistas
INV - AIA - Artículos de Revistas

Arxius per aquest ítem:
Arxius per aquest ítem:
Arxiu Descripció Tamany Format  
Thumbnail2015_Saval_etal_ESWA_final.pdfVersión final (acceso restringido)5,51 MBAdobe PDFObrir     Sol·licitar una còpia
Thumbnail2015_Saval_etal_ESWA_preprint.pdfPreprint (acceso abierto)1,59 MBAdobe PDFObrir Vista prèvia


Tots els documents dipositats a RUA estan protegits per drets d'autors. Alguns drets reservats.