粗から密への3D屋内シーン位置合わせアルゴリズムの比較研究
A Comparative Study of Coarse to Dense 3D Indoor Scene Registration Algorithms
安価な深度カメラによる屋内3D再構築のため、RGB-Dデータの位置合わせ手法をキーポイント検出から精緻化まで段階ごとに比較し、最適な組み合わせを評価した。
著者: Abdenour Amamra, Khalid Boumaza
分類: cs.CV, cs.RO
原文アブストラクト
3D alignment has become a very important part of 3D scanning technology. For instance, we can divide the alignment process into four steps: key point detection, key point description, initial pose estimation, and alignment refinement. Researchers have contributed several approaches to the literature for each step, which suggests a natural need for a comparative study for an educated more appropriate choice. In this work, we propose a description and an evaluation of the different methods used for 3D registration with special focus on RGB-D data to find the best combinations that permit a complete and more accurate 3D reconstruction of indoor scenes with cheap depth cameras.
