TY - GEN
T1 - Point cloud registration for indoor mapping using time-of-flight camera
AU - Ochiai, Kenta
AU - Nakagawa, Masafumi
PY - 2013/1/1
Y1 - 2013/1/1
N2 - Disaster monitoring requires for a safety and rapidity. 3D measurement, such as photogrammetry and laser scanning, can satisfy these requirements in a structure inspection and modeling. Aerial photogrammetry and laser scanning are applied to 3D data acquisition in damaged outdoor environments. Recently, the ground-based disaster monitoring also requires 3D data acquisition in indoor environment. We propose a point cloud data alignment methodology based on Iterative Closest Point (ICP) algorithm and SLAM approaches. However, conventional ICP and SLAM use only geometrical features. In other words, we are difficult to align simple planes. Thus, image matching using intensity values taken from TOF camera are integrated into a feature matching for a stable 3D data alignment.
AB - Disaster monitoring requires for a safety and rapidity. 3D measurement, such as photogrammetry and laser scanning, can satisfy these requirements in a structure inspection and modeling. Aerial photogrammetry and laser scanning are applied to 3D data acquisition in damaged outdoor environments. Recently, the ground-based disaster monitoring also requires 3D data acquisition in indoor environment. We propose a point cloud data alignment methodology based on Iterative Closest Point (ICP) algorithm and SLAM approaches. However, conventional ICP and SLAM use only geometrical features. In other words, we are difficult to align simple planes. Thus, image matching using intensity values taken from TOF camera are integrated into a feature matching for a stable 3D data alignment.
KW - Flat surface
KW - Handheld 3D scanner
KW - Iterative closest point (ICP)
KW - Simultaneous localization and mapping (SLAM)
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M3 - Conference contribution
AN - SCOPUS:84903477570
SN - 9781629939100
T3 - 34th Asian Conference on Remote Sensing 2013, ACRS 2013
SP - 44
EP - 49
BT - 34th Asian Conference on Remote Sensing 2013, ACRS 2013
PB - Asian Association on Remote Sensing
T2 - 34th Asian Conference on Remote Sensing 2013, ACRS 2013
Y2 - 20 October 2013 through 24 October 2013
ER -