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2008
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Registration of colored 3D point clouds with a Kernel-based extension to the normal distributions transform

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Registration of colored 3D point clouds with a Kernel-based extension to the normal distributions transform
— We present a new algorithm for scan registration of colored 3D point data which is an extension to the Normal Distributions Transform (NDT). The probabilistic approach of NDT is extended to a color-aware registration algorithm by modeling the point distributions as Gaussian mixture-models in color space. We discuss different point cloud registration techniques, as well as alternative variants of the proposed algorithm. Results showing improved robustness of the proposed method using real-world data acquired with a mobile robot and a time-of-flight camera are presented.
Benjamin Huhle, Martin Magnusson 0002, Wolfgang St
Added 30 May 2010
Updated 30 May 2010
Type Conference
Year 2008
Where ICRA
Authors Benjamin Huhle, Martin Magnusson 0002, Wolfgang Straßer, Achim J. Lilienthal
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