Abstract:
Recent stereo cameras provide reliable 3D reconstructions.
These are useful for selecting ground-plane points, register them and
building mosaics of cluttered ground planes. In this paper we propose
a 2D Iterated Closest Point (ICP) registration method, based on the
distance transform, combined with a fine-tuning-registration step using
directly the image data. Experiments with real data show that ICP is
robust to 3D reconstruction differences due to motion and the fine tuning
step minimizes the effect of the uncertainty in the 3D reconstructions.
