Benjamin Huhle, Martin Magnusson, Wolfgang Straßer and Achim J. Lilienthal
Registration of Colored 3D Point Clouds with a Kernel-based Extension to the Normal Distributions Transform
Proc. of IEEE Int. Conf. on Robotics and Automation (ICRA), 2008, pp. 4025-4030
Abstract: We present a new algorithm for scan registration of colored 3D point data which is an extension to the Normal Distributions Transform (NDT). The probabilistic approach of NDT is extended to a color-aware registration algorithm by modeling the point distributions as Gaussian mixture-models in color space. We discuss different point cloud registration techniques, as well as alternative variants of the proposed algorithm. Results showing improved robustness of the proposed method using real-world data acquired with a mobile robot and a time-of-flight camera are presented.
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Bibtex:
@INPROCEEDINGS{Huhle_etal:ICRA:2008,
  author = {B. Huhle and M. Magnusson and W. Straßer and A. J. Lilienthal},
  title = {Registration of Colored 3D Point Clouds with a Kernel-based Extension to the Normal Distributions Transform},
  booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation},
  year = {2008},
  pages = {4025--4030}
}