Papers by Alexandru-Eugen Ichim
2012 IEEE International Conference on Robotics and Automation, 2012
In this paper, we give an overview of the Jacobs Robotics entry to the ICRA'11 Solutions in ... more In this paper, we give an overview of the Jacobs Robotics entry to the ICRA'11 Solutions in Perception Challenge. We present our multi-pronged strategy for object recognition and localization based on the integrated geometric and visual information available from the Kinect sensor. Firstly, the range image is over-segmented using an edge-detection algorithm and regions of interest are extracted based on
ACM Transactions on Graphics, 2016
Lecture Notes in Computer Science, 2016
Robotics and Autonomous Systems, 2015
ACM Transactions on Graphics, 2015
—Registration is an important step when processing 3D point clouds. Applications for registration... more —Registration is an important step when processing 3D point clouds. Applications for registration range from object modeling and tracking to simultaneous localization and mapping. This article presents the open-source Point Cloud Library (PCL) and the tools therein available for the task of point cloud registration. PCL incorporates methods for the initial alignment of point clouds using a variety of local shape feature descriptors as well as for refining initial alignments using different variants of the well-known Iterative Closest Point (ICP) algorithm. The article provides an overview on registration algorithms, usage examples of their PCL implementations, and tips for their application. Since the choice and parameterization of the right algorithm for a particular type of data is one of the biggest problems in 3D point cloud registration, we present three complete examples of data (and applications) and the respective registration pipeline in PCL. These examples include dense RGB-D point clouds acquired by consumer color and depth cameras, high-resolution laser scans from commercial 3D scanners, and low-resolution sparse point clouds captured by a custom lightweight 3D scanner on a micro aerial vehicle.
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Papers by Alexandru-Eugen Ichim