Point Cloud Data Fusion for Real -Time Applications

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Title:	Point Cloud Data Fusion for Real -Time Applications
Author:	Maillot, Stéphane Bertrand
Other authors:	Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial; Aranda López, Juan
Abstract:	This thesis presents how to register point clouds from RGB-D sensors to perform real-time 3D reconstruction of an indoor scene with the aim to build a representation of the environment useful for robot planning. Several common techniques have been explored and compared to determine beneﬁts and drawbacks of each method for our setup. A more speciﬁc method was then developed based on this knowledge and has been compared with other methods in terms of rotation and translation errors. Finally these results are used to evaluate the method accuracy and determine in which conditions these results can be replicated
Subject(s):	-Àrees temàtiques de la UPC::Informàtica -Robotics -Three-dimensional display systems -Real-time programming -Visualització tridimensional (Informàtica) -Programació en temps real -Robòtica
Rights:	http://creativecommons.org/licenses/by-nc-nd/3.0/es/
Document type:	Research/Master Thesis
Published by:	Universitat Politècnica de Catalunya
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