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Detailed 3D mapping based on image edge-point ICP and recovery from registration failure

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1 Author(s)
Tomono, M. ; Future Robot. Technol. Center, Chiba Inst. of Technol., Chiba, Japan

This paper presents a method of 3D mapping using a binocular stereo camera with automatic recovery from registration failure. We employ edge points as map element, and apply a variant of ICP algorithm to the inter-frame registration. The method detects failure in the registration due to erratic camera motion or moving objects and recovers from the failure by searching a good image to resume the registration using edge-point SIFT descriptors. In experiments, our method successfully coped with registration failure in 3D mapping in indoor and outdoor environments under various conditions.

Published in:

Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on

Date of Conference:

10-15 Oct. 2009