A Comparative Study of Registration Methods for RGB-D Video of Static Scenes

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Title: A Comparative Study of Registration Methods for RGB-D Video of Static Scenes
Authors: Morell, Vicente | Saval-Calvo, Marcelo | Azorin-Lopez, Jorge | Garcia-Rodriguez, Jose | Cazorla, Miguel | Orts-Escolano, Sergio | Fuster-Guilló, Andrés
Research Group/s: Robótica y Visión Tridimensional (RoViT) | Informática Industrial y Redes de Computadores
Center, Department or Service: Universidad de Alicante. Departamento de Ciencia de la Computación e Inteligencia Artificial | Universidad de Alicante. Departamento de Tecnología Informática y Computación | Universidad de Alicante. Instituto Universitario de Investigación Informática
Keywords: RGB-D sensor | Registration | Robotics mapping | Object reconstruction
Knowledge Area: Ciencia de la Computación e Inteligencia Artificial | Arquitectura y Tecnología de Computadores
Issue Date: 15-May-2014
Publisher: MDPI
Citation: Sensors. 2014, 14(5): 8547-8576. doi:10.3390/s140508547
Abstract: The use of RGB-D sensors for mapping and recognition tasks in robotics or, in general, for virtual reconstruction has increased in recent years. The key aspect of these kinds of sensors is that they provide both depth and color information using the same device. In this paper, we present a comparative analysis of the most important methods used in the literature for the registration of subsequent RGB-D video frames in static scenarios. The analysis begins by explaining the characteristics of the registration problem, dividing it into two representative applications: scene modeling and object reconstruction. Then, a detailed experimentation is carried out to determine the behavior of the different methods depending on the application. For both applications, we used standard datasets and a new one built for object reconstruction.
Sponsor: This work has been supported by a grant from the Spanish Government, DPI2013-40534-R, University of Alicante projects GRE11-01 and a grant from the Valencian Government, GV/2013/005.
URI: http://hdl.handle.net/10045/37599
ISSN: 1424-8220
DOI: 10.3390/s140508547
Language: eng
Type: info:eu-repo/semantics/article
Rights: © 2014 by the authors; licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution license (http://creativecommons.org/licenses/by/3.0/).
Peer Review: si
Publisher version: http://dx.doi.org/10.3390/s140508547
Appears in Collections:INV - RoViT - Artículos de Revistas
INV - I2RC - Artículos de Revistas

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