Color supported generalized ICP
This paper presents a method to support point cloud registration with color information. For this purpose we integrate L*a*b* color space information into the Generalized Iterative Closest Point (GICP) algorithm, a state of the art Plane To Plane ICP variant. A six dimensional k d tree based nearest neighbor search is used to match corresponding points between the clouds. We demonstrate that the additional effort in general does not have an immoderate impact on the runtime, since the number of iterations can be reduced. The influence on the estimated 6 DoF transformations is quantitatively evaluated on six different datasets. It will be shown that the modified algorithm can improve the results without needing any special parameter adjustment.
2014 International Conference on Computer Vision Theory and Applications (VISAPP)