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

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

Institute for Computing Research, University of Alicante, P.O. Box 99, Alicante, Spain
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Received: 26 December 2013 / Revised: 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. View Full-Text
Keywords: RGB-D sensor; registration; robotics mapping; object reconstruction RGB-D sensor; registration; robotics mapping; object reconstruction
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This is an open access article distributed under the Creative Commons Attribution License (CC BY 3.0).
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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.

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