Model-based multi-view registration for RGB-D sensors

Abstract

Registration is a main task in 3D objects reconstruction. Different approaches have been developed in order to solve specific problems in scenarios, objects or even the source of data. Recently, new problems have been appeared with the increasing use of low-cost RGB-D sensors. Registering small objects acquired by these cameras using traditional methods is a hard problem due to their low resolution and depth sensing error. In this paper, we propose a model-based registration method for objects composed by small planes using multi-view acquisition. It is able to deal with the problem of low resolution and noisy data. Experiments show very good promising results registering small objects acquired with low-cost RGB-D sensors compared to ICP variants. © 2013 Springer-Verlag Berlin Heidelberg.