RGB-D edge detection and edge-based registration

Changhyun Choi, Alexander J.B. Trevor, Henrik I. Christensen

Research output: Chapter in Book/Report/Conference proceedingConference contribution

61 Scopus citations

Abstract

We present a 3D edge detection approach for RGB-D point clouds and its application in point cloud registration. Our approach detects several types of edges, and makes use of both 3D shape information and photometric texture information. Edges are categorized as occluding edges, occluded edges, boundary edges, high-curvature edges, and RGB edges. We exploit the organized structure of the RGB-D image to efficiently detect edges, enabling near real-time performance. We present two applications of these edge features: edge-based pair-wise registration and a pose-graph SLAM approach based on this registration, which we compare to state-of-the-art methods. Experimental results demonstrate the performance of edge detection and edge-based registration both quantitatively and qualitatively.

Original languageEnglish (US)
Title of host publicationIROS 2013
Subtitle of host publicationNew Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
Pages1568-1575
Number of pages8
DOIs
StatePublished - Dec 1 2013
Event2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013 - Tokyo, Japan
Duration: Nov 3 2013Nov 8 2013

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Other

Other2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013
CountryJapan
CityTokyo
Period11/3/1311/8/13

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