Multiple planes based registration using 3D Projective Space for Augmented Reality
Image and Vision Computing
Fast 3D mapping by matching planes extracted from range sensor point-clouds
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Using a depth camera as a touch sensor
ACM International Conference on Interactive Tabletops and Surfaces
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Registration is a main task in 3D objects reconstruction. Different approaches have been developed in order to solve specific problems in scenarios, objects or even the source of data. Recently, new problems have been appeared with the increasing use of low-cost RGB-D sensors. Registering small objects acquired by these cameras using traditional methods is a hard problem due to their low resolution and depth sensing error. In this paper, we propose a model-based registration method for objects composed by small planes using multi-view acquisition. It is able to deal with the problem of low resolution and noisy data. Experiments show very good promising results registering small objects acquired with low-cost RGB-D sensors compared to ICP variants.