Colourising Point Clouds Using Independent Cameras

被引：13

作者：

Vechersky, Pavel ^{[1
]}

Cox, Mark ^{[1
]}

Borges, Paulo ^{[1
]}

Lowe, Thomas ^{[1
]}

机构：

[1] CSIRO, Data61, Robot & Autonomous Syst Grp, Canberra, ACT 2601, Australia

来源：

IEEE ROBOTICS AND AUTOMATION LETTERS | 2018年 / 3卷 / 04期

关键词：

Mapping; sensor fusion; computer vision for robotic applications; ODOMETRY; SLAM;

D O I：

10.1109/LRA.2018.2854290

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

We investigate the problem of colourising a point cloud using an arbitrary mobile mapping device and an independent camera. The loose coupling of sensors creates a number of challenges related to timing, point visibility, and colour determination. We address each of these problems and demonstrate our resulting algorithm on data captured using sensor payloads mounted to hand-held, aerial, and ground systems, illustrating the "plug-and-play" portability of the method.

引用

页码：3575 / 3582

页数：8

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