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Registration of multiple ToF camera point clouds
Umeå University, Faculty of Science and Technology, Department of Physics.
2010 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

Buildings, maps and objects et cetera, can be modeled using a computer or reconstructed in 3D by data from different kinds of cameras or laser scanners. This thesis concerns the latter. The recent improvements of Time-of-Flight cameras have brought a number of new interesting research areas to the surface. Registration of several ToF camera point clouds is such an area.

A literature study has been made to summarize the research done in the area over the last two decades. The most popular method for registering point clouds, namely the Iterative Closest Point (ICP), has been studied. In addition to this, an error relaxation algorithm was implemented to minimize the accumulated error of the sequential pairwise ICP.

A few different real-world test scenarios and one scenario with synthetic data were constructed. These data sets were registered with varying outcome. The obtained camera poses from the sequential ICP were improved by loop closing and error relaxation.

The results illustrate the importance of having good initial guesses on the relative transformations to obtain a correct model. Furthermore the strengths and weaknesses of the sequential ICP and the utilized error relaxation method are shown.

Place, publisher, year, edition, pages
2010.
Keyword [en]
Registration multiple ToF camera point clouds time of flight
Identifiers
URN: urn:nbn:se:umu:diva-34952OAI: oai:DiVA.org:umu-34952DiVA: diva2:327071
Uppsok
Physics, Chemistry, Mathematics
Supervisors
Examiners
Available from: 2010-07-02 Created: 2010-06-28 Last updated: 2010-07-02Bibliographically approved

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Registration of multiple ToF camera point clouds(5206 kB)2061 downloads
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CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf