Authors: Benjamin Huhle, Philipp Jenke, Wolfgang Strasser
Addresses: WSI/GRIS, University of Tuebingen, Sand 14, Tuebingen 72076, Germany. ' WSI/GRIS, University of Tuebingen, Sand 14, Tuebingen 72076, Germany. ' WSI/GRIS, University of Tuebingen, Sand 14, Tuebingen 72076, Germany
Abstract: We present a scene acquisition system which allows for fast and simple acquisition of arbitrarily large 3D environments. We propose a small device which acquires and processes frames consisting of depth and colour information at interactive rates. This allows the operator to control the acquisition process on the fly. However, no user input or prior knowledge of the scene is required. In each step of the processing, pipeline colour and depth data are used in combination in order to gain from different strengths of the sensors. A novel registration method is introduced that combines geometry and colour information for enhanced robustness and precision. We evaluate the performance of the system and present results from acquisition in different environments.
Keywords: NDT; normal distributions transform; PMD; photonic mixer device; registration; scene acquisition; SIFT; scale invariant feature transform; spectral correspondences; multi-sensor systems; multiple sensors; pipeline colour; depth data.
International Journal of Intelligent Systems Technologies and Applications, 2008 Vol.5 No.3/4, pp.255 - 263
Published online: 18 Nov 2008 *Full-text access for editors Full-text access for subscribers Purchase this article Comment on this article