3D environment reconstruction using modified color ICP algorithm by fusion of a camera and a 3D laser range finder

Authors:
Ji Hoon Joung;Kwang Ho An;Jung Won Kang;Myung Jin Chung;Wonpil Yu
Affiliations:
Robot Research Department, Electronics and Telecommunications Research Institute, Daejeon, Korea;Department of Electrical Engineering & Computer Science, Korea Advanced Institute of Science and Technology, Daejeon Korea;Department of Electrical Engineering & Computer Science, Korea Advanced Institute of Science and Technology, Daejeon Korea;Department of Electrical Engineering & Computer Science, Korea Advanced Institute of Science and Technology, Daejeon Korea;Robot Research Department, Electronics and Telecommunications Research Institute, Daejeon, Korea
Venue:
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Year:
2009

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Abstract

In this paper, we propose a system which reconstructs the environment with both color and 3D information. We perform extrinsic calibration of a camera and a LRF (Laser Range Finder) to fuse 3D information and color information of objects. We also formularize an equation to measure the result of the calibration. Moreover, we acquire 3D data by rotating 2D LRF with camera, and use ICP (Iterative Closest Point) algorithm to combine data acquired in other places. We use the SIFT (Scale Invariant Feature Transform) matching for the initial estimation of ICP algorithm. It offers accurate and stable initial estimation robust to motion change compare to odometry. We also modify the ICP algorithm using color information. Computation time of ICP algorithm can be reduced by using color information.