REGISTRATION OF DSM AND RANGE IMAGES FOR3-D POSE ESTIMATION OF AN UNMANNED GROUND VEHICLE

Sung-In Choi, Soon-Yong Park, Jaekyoung Moon, Jun Kim, Yong-Woon Park

2009

Abstract

In this paper, we propose a new approach which registers a range image which is acquired from a 3-D range sensor to a DSM to estimate the 3-D pose of an unmanned ground vehicle. Generally, 3-D registration is divided into two parts that called as coarse and refinement steps. Above all, a proper feature matching technique is demanded between the DSM and the range image for the coarse registration to register precisely and speedy. We generated signatures using shape parameterization about the DSM and the range images and got a 3-D rigid transformation by matching them to minimize registration error.

Paper Citation

in Harvard Style

Choi S., Park S., Moon J., Kim J. and Park Y. (2009). REGISTRATION OF DSM AND RANGE IMAGES FOR3-D POSE ESTIMATION OF AN UNMANNED GROUND VEHICLE . In Proceedings of the Fourth International Conference on Computer Vision Theory and Applications - Volume 2: VISAPP, (VISIGRAPP 2009) ISBN 978-989-8111-69-2, pages 507-511. DOI: 10.5220/0001798505070511

in Bibtex Style

@conference{visapp09,
author={Sung-In Choi and Soon-Yong Park and Jaekyoung Moon and Jun Kim and Yong-Woon Park},
title={REGISTRATION OF DSM AND RANGE IMAGES FOR3-D POSE ESTIMATION OF AN UNMANNED GROUND VEHICLE },
booktitle={Proceedings of the Fourth International Conference on Computer Vision Theory and Applications - Volume 2: VISAPP, (VISIGRAPP 2009)},
year={2009},
pages={507-511},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001798505070511},
isbn={978-989-8111-69-2},
}

in EndNote Style

TY - CONF
JO - Proceedings of the Fourth International Conference on Computer Vision Theory and Applications - Volume 2: VISAPP, (VISIGRAPP 2009)
TI - REGISTRATION OF DSM AND RANGE IMAGES FOR3-D POSE ESTIMATION OF AN UNMANNED GROUND VEHICLE
SN - 978-989-8111-69-2
AU - Choi S.
AU - Park S.
AU - Moon J.
AU - Kim J.
AU - Park Y.
PY - 2009
SP - 507
EP - 511
DO - 10.5220/0001798505070511