Generating Orientated Point Clouds from RGB-D Sensor

被引：0

作者：

Shan, W. B. ^{[1
]}

Yao, Y. ^{[1
,2
]}

Liu, J. J. ^{[1
]}

Guo, M. ^{[1
]}

Yao, Y. ^{[1
,2
]}

机构：

[1] Rapid Mfg Engn Ctr, Shanghai, Peoples R China

[2] Shanghai Univ, Shanghai Key Lab Mfg Automat & Robot, Shanghai, Peoples R China

来源：

PROCEEDINGS OF THE 2015 INTERNATIONAL CONFERENCE ON ELECTRICAL, AUTOMATION AND MECHANICAL ENGINEERING (EAME 2015) | 2015年 / 13卷

关键词：

RGB-D sensor; point clouds; normal estimation; 3D reconstruction;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In order to reconstruct a surface by using the data from RGB-D sensor, this paper presents a viewpoint based method for estimating the orientation of point clouds. Firstly, a PCA method is used to compute the normal vector of each point. In this process, the orientation of the normal is determined by the viewpoint. Secondly, the point clouds generated from each frame are combined to an overall model with directional information. Finally, the quality of the model is further improved by a local smooth method. The experimental results show that the method can compute accurate normal vectors on the fly. Compared to current methods, it can estimate the sign of the normal automatically.

引用

页码：397 / 399

页数：3

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