Precise Registration of 3D Images Acquired from a Hand-Held Visual Sensor

Benjamin Coudrin; Michel Devy; Jean-José Orteu; Ludovic Brethes

doi:10.1007/978-3-642-23687-7_64

Precise Registration of 3D Images Acquired from a Hand-Held Visual Sensor

Benjamin Coudrin ^{1, 2, 3} Michel Devy ¹ Jean-José Orteu ² Ludovic Brethes ³

1 LAAS-RAP - Équipe Robotique, Action et Perception

LAAS - Laboratoire d'analyse et d'architecture des systèmes

2 ICA - Institut Clément Ader

3 NOOMEO

Abstract : This paper presents a method for precise registration of 3D images acquired from a new sensor for 3D digitization moved manually by an operator around an object. The system is equipped with visual and inertial devices and with a speckle pattern projector. The presented method has been developed to address the problem that a moving speckle pattern during a sequence prevents from correlating points between images acquired from two successive viewpoints. So several solutions are proposed, based on images acquired with a moving speckle pattern. It improves ICP-based methods classically used for precise registration of two clouds of 3D points.

Document type :

Conference papers

Domain :

Engineering Sciences [physics]

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https://hal.archives-ouvertes.fr/hal-01644886
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