REGISTRATION OF INDOOR 3D RANGE IMAGES USING VIRTUAL 2D SCANS

Marco Langerwisch, Bernardo Wagner

Abstract

For mapping purposes, autonomous robots have to be capable to register 3D range images taken by 3D laser sensors into a common coordinate system. One approach is the Iterative Closest Point (ICP) algorithm. Due to its high computational costs, the ICP algorithm is not suitable for registering 3D range images online. This paper presents a novel approach for registering indoor 3D range images using orthogonal virtual 2D scans, utilizing the typical structure of indoor environments. The 3D registration process is split into three 2D registration steps, and hence the computational effort is reduced. First experiments show that the approach is capable of registering 3D range images much more efficient than ICP algorithm and in real time.

References

  1. Arun, K. S., Huang, T. S., and Blostein, S. D. (1987). Leastsquares fitting of two 3-d point sets. IEEE Trans. Pattern Anal. Mach. Intell., 9(5):698-700.
  2. Bentley, J. L. (1975). Multidimensional binary search trees used for associative searching. Commun. ACM, 18(9):509-517.
  3. Besl, P. and McKay, H. (1992). A method for registration of 3-D shapes. IEEE Transactions on Pattern Analysis and Machine Intelligence, 14(2):239-256.
  4. Chen, Y. and Medioni, G. (1991). Object modeling by registration of multiple range images. In Proc. IEEE International Conference on Robotics and Automation ICRA 1991, pages 2724-2729 vol.3.
  5. Jez, O. (2008). 3D mapping and localization using leveled map accelerated ICP. In Bruyninckx, H., Preucil, L., and Kulich, M., editors, EUROS, volume 44 of Springer Tracts in Advanced Robotics, pages 343- 353. Springer.
  6. Magnusson, M., Nüchter, A., Lorken, C., Lilienthal, A., and Hertzberg, J. (2009). Evaluation of 3d registration reliability and speed - a comparison of icp and ndt. In Proc. IEEE International Conference on Robotics and Automation ICRA 2009, pages 3907-3912.
  7. Nguyen, V., Harati, A., and Siegwart, R. (2007). A lightweight SLAM algorithm using orthogonal planes for indoor mobile robotics. In Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems IROS 2007, pages 658-663.
  8. Nüchter, A., Lingemann, K., and Hertzberg, J. (2005). Mapping of rescue environments with Kurt3D. In Proc. IEEE International Safety, Security and Rescue Robotics, Workshop, pages 158-163.
  9. Nüchter, A., Lingemann, K., Hertzberg, J., and Surmann, H. (2007). 6D SLAM - 3D mapping outdoor environments. J. Field Robot., 24(8-9):699-722.
  10. Thrun, S. (2003). Robotic mapping: a survey, pages 1- 35. Morgan Kaufmann Publishers Inc., San Francisco, CA, USA.
  11. Wulf, O. (2008). Virtuelle 2D-Scans - Ein Verfahren zur echtzeitfähigen Roboternavigation mit dreidimensionalen Umgebungsdaten. PhD thesis, Leibniz Universität Hannover, Hannover, Germany.
  12. Wulf, O., Arras, K., Christensen, H., and Wagner, B. (2004). 2D mapping of cluttered indoor environments by means of 3D perception. In Proc. IEEE International Conference on Robotics and Automation ICRA 2004, volume 4, pages 4204-4209 Vol.4.
  13. Wulf, O., Nüchter, A., Hertzberg, J., and Wagner, B. (2007). Ground truth evaluation of large urban 6D SLAM. In Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems IROS 2007, pages 650-657.
Download


Paper Citation


in Harvard Style

Langerwisch M. and Wagner B. (2010). REGISTRATION OF INDOOR 3D RANGE IMAGES USING VIRTUAL 2D SCANS . In Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8425-01-0, pages 327-332. DOI: 10.5220/0003003303270332


in Bibtex Style

@conference{icinco10,
author={Marco Langerwisch and Bernardo Wagner},
title={REGISTRATION OF INDOOR 3D RANGE IMAGES USING VIRTUAL 2D SCANS},
booktitle={Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2010},
pages={327-332},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003003303270332},
isbn={978-989-8425-01-0},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - REGISTRATION OF INDOOR 3D RANGE IMAGES USING VIRTUAL 2D SCANS
SN - 978-989-8425-01-0
AU - Langerwisch M.
AU - Wagner B.
PY - 2010
SP - 327
EP - 332
DO - 10.5220/0003003303270332