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Sensors 2014, 14(5), 8547-8576; doi:10.3390/s140508547
Article

A Comparative Study of Registration Methods for RGB-D Video of Static Scenes

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Received: 26 December 2013; in revised form: 5 May 2014 / Accepted: 8 May 2014 / Published: 15 May 2014
(This article belongs to the Special Issue State-of-the-Art Sensors Technology in Spain 2013)
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Abstract: The use of RGB-D sensors for mapping and recognition tasks in robotics or, in general, for virtual reconstruction has increased in recent years. The key aspect of these kinds of sensors is that they provide both depth and color information using the same device. In this paper, we present a comparative analysis of the most important methods used in the literature for the registration of subsequent RGB-D video frames in static scenarios. The analysis begins by explaining the characteristics of the registration problem, dividing it into two representative applications: scene modeling and object reconstruction. Then, a detailed experimentation is carried out to determine the behavior of the different methods depending on the application. For both applications, we used standard datasets and a new one built for object reconstruction.
Keywords: RGB-D sensor; registration; robotics mapping; object reconstruction RGB-D sensor; registration; robotics mapping; object reconstruction
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

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MDPI and ACS Style

Morell-Gimenez, V.; Saval-Calvo, M.; Azorin-Lopez, J.; Garcia-Rodriguez, J.; Cazorla, M.; Orts-Escolano, S.; Fuster-Guillo, A. A Comparative Study of Registration Methods for RGB-D Video of Static Scenes. Sensors 2014, 14, 8547-8576.

AMA Style

Morell-Gimenez V, Saval-Calvo M, Azorin-Lopez J, Garcia-Rodriguez J, Cazorla M, Orts-Escolano S, Fuster-Guillo A. A Comparative Study of Registration Methods for RGB-D Video of Static Scenes. Sensors. 2014; 14(5):8547-8576.

Chicago/Turabian Style

Morell-Gimenez, Vicente; Saval-Calvo, Marcelo; Azorin-Lopez, Jorge; Garcia-Rodriguez, Jose; Cazorla, Miguel; Orts-Escolano, Sergio; Fuster-Guillo, Andres. 2014. "A Comparative Study of Registration Methods for RGB-D Video of Static Scenes." Sensors 14, no. 5: 8547-8576.


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