A 3D Registration Method Using a Web Camera and a Marker Attached RGB-D Sensor

In this study, to achieve 3D registration for objects which do not have unique shape and enough texture, we proposed a 3D registration method using a web camera and a marker attached RGB-D sensor. The proposed method takes two steps. First step is a coarse registration without 2D/3D features by estimating posture and position of the RGB-D sensor. Second step is a fine registration using ICP algorithm. In the proposed method, 2D/3D features are not used for the coarse registration. Thus, the proposed method is able to achieve the coarse registration regardless of shape and texture of target objects. Through experiments, we confirmed that the proposed method was able to achieve the 3D registration even if target objects do not have unique shape and enough texture.