Iterative refinement of range images with anisotropic error distribution

Ryusuke Sagawa, Takeshi Oishi, Atsushi Nakazawa, Ryo Kurazume, Katsushi Ikeuchi

Research output: Contribution to conferencePaper

16 Citations (Scopus)

Abstract

We propose a method which refines the range measurement of range finders by computing correspondences of vertices of multiple range images acquired from various viewpoints. Our method assumes that a range image acquired by a laser range finder has anisotropic error distribution which is parallel to the ray direction. Thus, we find corresponding points of range images along with the ray direction. We iteratively converge range images to minimize the distance of corresponding points. We demonstrate the effectiveness of our method by presenting the experimental results of artificial and real range data. Also we show that our method refines a 3D shape more accurately as opposed to that achieved by using the Gaussian filter.

Original languageEnglish
Pages79-85
Number of pages7
Publication statusPublished - Jan 1 2002
Event2002 IEEE/RSJ International Conference on Intelligent Robots and Systems - Lausanne, Switzerland
Duration: Sep 30 2002Oct 4 2002

Other

Other2002 IEEE/RSJ International Conference on Intelligent Robots and Systems
CountrySwitzerland
CityLausanne
Period9/30/0210/4/02

Fingerprint

Range finders
Lasers

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Cite this

Sagawa, R., Oishi, T., Nakazawa, A., Kurazume, R., & Ikeuchi, K. (2002). Iterative refinement of range images with anisotropic error distribution. 79-85. Paper presented at 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems, Lausanne, Switzerland.

Iterative refinement of range images with anisotropic error distribution. / Sagawa, Ryusuke; Oishi, Takeshi; Nakazawa, Atsushi; Kurazume, Ryo; Ikeuchi, Katsushi.

2002. 79-85 Paper presented at 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems, Lausanne, Switzerland.

Research output: Contribution to conferencePaper

Sagawa, R, Oishi, T, Nakazawa, A, Kurazume, R & Ikeuchi, K 2002, 'Iterative refinement of range images with anisotropic error distribution', Paper presented at 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems, Lausanne, Switzerland, 9/30/02 - 10/4/02 pp. 79-85.
Sagawa R, Oishi T, Nakazawa A, Kurazume R, Ikeuchi K. Iterative refinement of range images with anisotropic error distribution. 2002. Paper presented at 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems, Lausanne, Switzerland.
Sagawa, Ryusuke ; Oishi, Takeshi ; Nakazawa, Atsushi ; Kurazume, Ryo ; Ikeuchi, Katsushi. / Iterative refinement of range images with anisotropic error distribution. Paper presented at 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems, Lausanne, Switzerland.7 p.
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