Cart (Loading....) | Create Account
Close category search window

Feature based registration of range images for mapping of natural outdoor environments

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Forsman, P. ; Autom. Technol. Lab., Helsinki Univ. of Technol., Espoo, Finland ; Halme, A.

Challenges related to viewpoint registration in rough forest terrain can be quite different compared to those faced in structured environments. Maneuvring the sensor between measurement positions introduces large error into the a priori estimates of the registration coordinates. As a consequence, locally optimal registration methods may not work properly. Moreover, due to the clutter, the scene contents can change substantially even due to a relative small displacement of the sensor. Often, the sensor has to be moved to the other side of the target object, such as a group of trees, to get a good coverage of its geometry. In both cases, overlap between the two 3D data sets will be minimal ruling out conventional registration methods. In this paper, a feature-based method for registering 3D range scans for mapping natural outdoor environments is proposed. The method utilizes cylindrical, rotation symmetric features extracted from the 3D measurement data for viewpoint registration. The method is tested on real range images.

Published in:

3D Data Processing, Visualization and Transmission, 2004. 3DPVT 2004. Proceedings. 2nd International Symposium on

Date of Conference:

6-9 Sept. 2004

Need Help?

IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.