Point cloud registration for indoor mapping using time-of-flight camera

Kenta Ochiai, Masafumi Nakagawa

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

Abstract

Disaster monitoring requires for a safety and rapidity. 3D measurement, such as photogrammetry and laser scanning, can satisfy these requirements in a structure inspection and modeling. Aerial photogrammetry and laser scanning are applied to 3D data acquisition in damaged outdoor environments. Recently, the ground-based disaster monitoring also requires 3D data acquisition in indoor environment. We propose a point cloud data alignment methodology based on Iterative Closest Point (ICP) algorithm and SLAM approaches. However, conventional ICP and SLAM use only geometrical features. In other words, we are difficult to align simple planes. Thus, image matching using intensity values taken from TOF camera are integrated into a feature matching for a stable 3D data alignment.

Original languageEnglish
Title of host publication34th Asian Conference on Remote Sensing 2013, ACRS 2013
PublisherAsian Association on Remote Sensing
Pages44-49
Number of pages6
Volume1
ISBN (Print)9781629939100
Publication statusPublished - 2013
Event34th Asian Conference on Remote Sensing 2013, ACRS 2013 - Bali
Duration: 2013 Oct 202013 Oct 24

Other

Other34th Asian Conference on Remote Sensing 2013, ACRS 2013
CityBali
Period13/10/2013/10/24

Fingerprint

Photogrammetry
Disasters
Data acquisition
Cameras
Scanning
Image matching
Lasers
Monitoring
Inspection
Antennas

Keywords

  • Flat surface
  • Handheld 3D scanner
  • Iterative closest point (ICP)
  • Simultaneous localization and mapping (SLAM)

ASJC Scopus subject areas

  • Computer Networks and Communications

Cite this

Ochiai, K., & Nakagawa, M. (2013). Point cloud registration for indoor mapping using time-of-flight camera. In 34th Asian Conference on Remote Sensing 2013, ACRS 2013 (Vol. 1, pp. 44-49). Asian Association on Remote Sensing.

Point cloud registration for indoor mapping using time-of-flight camera. / Ochiai, Kenta; Nakagawa, Masafumi.

34th Asian Conference on Remote Sensing 2013, ACRS 2013. Vol. 1 Asian Association on Remote Sensing, 2013. p. 44-49.

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

Ochiai, K & Nakagawa, M 2013, Point cloud registration for indoor mapping using time-of-flight camera. in 34th Asian Conference on Remote Sensing 2013, ACRS 2013. vol. 1, Asian Association on Remote Sensing, pp. 44-49, 34th Asian Conference on Remote Sensing 2013, ACRS 2013, Bali, 13/10/20.
Ochiai K, Nakagawa M. Point cloud registration for indoor mapping using time-of-flight camera. In 34th Asian Conference on Remote Sensing 2013, ACRS 2013. Vol. 1. Asian Association on Remote Sensing. 2013. p. 44-49
Ochiai, Kenta ; Nakagawa, Masafumi. / Point cloud registration for indoor mapping using time-of-flight camera. 34th Asian Conference on Remote Sensing 2013, ACRS 2013. Vol. 1 Asian Association on Remote Sensing, 2013. pp. 44-49
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