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A NOVEL KINECT V2 REGISTRATION METHOD FOR LARGE-DISPLACEMENT ENVIRONMENTS USING CAMERA AND SCENE CONSTRAINTS

Abstract: 

In a lot of multi-Kinect V2-based systems, the registration of these Kinect V2 sensors is an important step which directly affects the system precision. The coarse-to-fine method using calibration objects is an effective way to solve the Kinect V2 registration problem. However, for the registration of Kinect V2 cameras with large displacements, this kind of method may fail. To this end, a novel Kinect V2 registration method, which is also based on the coarse-to-fine framework, is proposed by using camera and scene constraints. Specifically, in the coarse estimation stage, scene constraints are explored using off-the-shelf feature point detectors and camera constraints are explored using homography and fundamental matrices. In the estimation refinement stage, an Iterative Closest Point (ICP)-based point cloud registration method is utilized. Experimental results show that the proposed Kinect V2 registration method using camera and scene constraints performs much better in precision than using calibration objects in the large-displacement environment.

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Paper Details

Authors:
Yuan Gao, Sandro Esquivel, Reinhard Koch, Matthias Ziegler, Frederik Zilly, Joachim Keinert
Submitted On:
8 September 2017 - 5:29am
Short Link:
Type:
Presentation Slides
Event:
Presenter's Name:
Yuan Gao
Paper Code:
2790
Document Year:
2017
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Document Files

2017.09.19ICIP.pdf

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[1] Yuan Gao, Sandro Esquivel, Reinhard Koch, Matthias Ziegler, Frederik Zilly, Joachim Keinert, "A NOVEL KINECT V2 REGISTRATION METHOD FOR LARGE-DISPLACEMENT ENVIRONMENTS USING CAMERA AND SCENE CONSTRAINTS", IEEE SigPort, 2017. [Online]. Available: http://sigport.org/1849. Accessed: Sep. 19, 2017.
@article{1849-17,
url = {http://sigport.org/1849},
author = {Yuan Gao; Sandro Esquivel; Reinhard Koch; Matthias Ziegler; Frederik Zilly; Joachim Keinert },
publisher = {IEEE SigPort},
title = {A NOVEL KINECT V2 REGISTRATION METHOD FOR LARGE-DISPLACEMENT ENVIRONMENTS USING CAMERA AND SCENE CONSTRAINTS},
year = {2017} }
TY - EJOUR
T1 - A NOVEL KINECT V2 REGISTRATION METHOD FOR LARGE-DISPLACEMENT ENVIRONMENTS USING CAMERA AND SCENE CONSTRAINTS
AU - Yuan Gao; Sandro Esquivel; Reinhard Koch; Matthias Ziegler; Frederik Zilly; Joachim Keinert
PY - 2017
PB - IEEE SigPort
UR - http://sigport.org/1849
ER -
Yuan Gao, Sandro Esquivel, Reinhard Koch, Matthias Ziegler, Frederik Zilly, Joachim Keinert. (2017). A NOVEL KINECT V2 REGISTRATION METHOD FOR LARGE-DISPLACEMENT ENVIRONMENTS USING CAMERA AND SCENE CONSTRAINTS. IEEE SigPort. http://sigport.org/1849
Yuan Gao, Sandro Esquivel, Reinhard Koch, Matthias Ziegler, Frederik Zilly, Joachim Keinert, 2017. A NOVEL KINECT V2 REGISTRATION METHOD FOR LARGE-DISPLACEMENT ENVIRONMENTS USING CAMERA AND SCENE CONSTRAINTS. Available at: http://sigport.org/1849.
Yuan Gao, Sandro Esquivel, Reinhard Koch, Matthias Ziegler, Frederik Zilly, Joachim Keinert. (2017). "A NOVEL KINECT V2 REGISTRATION METHOD FOR LARGE-DISPLACEMENT ENVIRONMENTS USING CAMERA AND SCENE CONSTRAINTS." Web.
1. Yuan Gao, Sandro Esquivel, Reinhard Koch, Matthias Ziegler, Frederik Zilly, Joachim Keinert. A NOVEL KINECT V2 REGISTRATION METHOD FOR LARGE-DISPLACEMENT ENVIRONMENTS USING CAMERA AND SCENE CONSTRAINTS [Internet]. IEEE SigPort; 2017. Available from : http://sigport.org/1849