Scale-Space and Edge Detection Using Anisotropic Diffusion
IEEE Transactions on Pattern Analysis and Machine Intelligence
A Method for Registration of 3-D Shapes
IEEE Transactions on Pattern Analysis and Machine Intelligence - Special issue on interpretation of 3-D scenes—part II
A survey of image registration techniques
ACM Computing Surveys (CSUR)
Iterative point matching for registration of free-form curves and surfaces
International Journal of Computer Vision
Towards a General Multi-View Registration Technique
IEEE Transactions on Pattern Analysis and Machine Intelligence
A volumetric method for building complex models from range images
SIGGRAPH '96 Proceedings of the 23rd annual conference on Computer graphics and interactive techniques
Real-time 3D model acquisition
Proceedings of the 29th annual conference on Computer graphics and interactive techniques
Determining Optical Flow
Bilateral Filtering for Gray and Color Images
ICCV '98 Proceedings of the Sixth International Conference on Computer Vision
Distinctive Image Features from Scale-Invariant Keypoints
International Journal of Computer Vision
Robust background subtraction with foreground validation for urban traffic video
EURASIP Journal on Applied Signal Processing
Speeded-Up Robust Features (SURF)
Computer Vision and Image Understanding
Sub-pixel data fusion and edge-enhanced distance refinement for 2D/3D images
International Journal of Intelligent Systems Technologies and Applications
Sub-pixel data fusion and edge-enhanced distance refinement for 2D/3D images
International Journal of Intelligent Systems Technologies and Applications
Compensation of Motion Artifacts for Time-of-Flight Cameras
Dyn3D '09 Proceedings of the DAGM 2009 Workshop on Dynamic 3D Imaging
An iterative image registration technique with an application to stereo vision
IJCAI'81 Proceedings of the 7th international joint conference on Artificial intelligence - Volume 2
BRIEF: binary robust independent elementary features
ECCV'10 Proceedings of the 11th European conference on Computer vision: Part IV
Identification and correction of flying pixels in range camera data
Proceedings of the 24th Spring Conference on Computer Graphics
KinectFusion: real-time 3D reconstruction and interaction using a moving depth camera
Proceedings of the 24th annual ACM symposium on User interface software and technology
KinectFusion: Real-time dense surface mapping and tracking
ISMAR '11 Proceedings of the 2011 10th IEEE International Symposium on Mixed and Augmented Reality
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Modern car wash systems are generally controlled by light barriers and power measurement sensors. These sensors are directly mounted on the movable parts of the system which result in a slow regulation, leading to non-optimal performance, e.g. in terms of energy, water and detergent consumption or regarding the quality of the result. This paper presents an alternative approach, based on online automatic acquisition of 3D vehicle models, thus allowing for an a priori optimization of the washing process in order to achieve a better overall performance of the car wash system. Technically, the approach uses merged and synchronized data acquired by a multiple Time-of-Flight (ToF) camera setup. The proposed processing concept handles the range data sets acquired online, and performs data preprocessing, registration and fusion, as well as geometry extraction. The realized system is based on Graphics Processing Units (GPUs) in order to achieve a sufficient temporal processing performance. Furthermore, details are given showing how to solve the main challenges related to point cloud data processing, especially due to low image resolution, the influences of specific environment conditions, e.g. variations in coating and material reflectivity. The data registration is twofold, on the one hand the multiple ToF images are registered using the pre-calibrated camera system (extrinsic parameters), whereas the inter-frame registration is performed using a point-to-plane based iterative closest point (ICP) on the other hand. Finally, the merged data is integrated in a GPU data structure to allow a fast and efficient 3D point cloud reconstruction.