Título:
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Registration of images to unorganized 3D point clouds using contour cues
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Autor/a:
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Pujol Miró, Alba; Ruiz Hidalgo, Javier; Casas Pla, Josep Ramon
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Otros autores:
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Universitat Politècnica de Catalunya. Departament de Teoria del Senyal i Comunicacions; Universitat Politècnica de Catalunya. GPI - Grup de Processament d'Imatge i Vídeo |
Abstract:
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Abstract:
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Low resolution commercial 3D sensors contribute to
computer vision tasks even better when the analysis is carried out
in a combination with higher resolution image data. This requires
registration of 2D images to unorganized 3D point clouds. In this
paper we present a framework for 2D-3D data fusion to obtain
directly the camera pose of a 2D color image in relation to a
3D point cloud. It includes a novel multiscale intensity feature
detection algorithm and a modified ICP procedure based on
point-to-line distances. The framework is generic for several data
types (such as CAD designs or LiDAR data without photometric
information), and results show that performance is comparable
to the state of the art, while avoiding manual markers or specific
patterns on the data. |
Abstract:
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Peer Reviewed |
Materia(s):
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-Àrees temàtiques de la UPC::Enginyeria de la telecomunicació::Processament del senyal::Processament de la imatge i del senyal vídeo -Image processing -Image registration -Algorithms -Feature extraction -Image registration -Iterative closest point algorithm -Stereo vision -Imatges -- Processament -Imatges -- Registre -Algoritmes |
Derechos:
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Tipo de documento:
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Artículo - Versión presentada Objeto de conferencia |
Editor:
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Institute of Electrical and Electronics Engineers (IEEE)
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