| Presentation | 2023-03-03 High Accuracy Alignment of 3D Point Clouds Obtained from Multiple View Point Images for Automatic Wire Harness Placement Environments Erika Hata, Eiji Fukuzawa, Jun Ohya, |
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| PDF Download Page |  PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | In automatic wire harness routing environments, we are exploring methods for generating 3D maps with high accuracies by integrating the data obtained from multiple sensors. For that, this paper studies how to register multiple 3D point clouds obtained from multiple RGBD cameras with high accuracy. To achieve a registration accuracy of 10 mm or smaller, the following three approaches are studied experimentally: (1) comparing different algorithms for alignment, (2) comparing different cameras' performance, and (3) angle correction method using planar information unique to this environment. Based on the results of the these experiments, it turns out that (1) TEASER is more suitable than ICP and PREDATOR in terms of accuracy, calculation speed and robustness, (2) SL40 camera is better than RealSense in terms of ability of acquiring high density point clouds, (3) By adding the angle correction using quaternions, a measurement error of 12.8 mm is achieved. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | automatic wire harness routing / point cloud alignment / TEASER / quaternions |
| Paper # | PRMU2022-103,IBISML2022-110 |
| Date of Issue | 2023-02-23 (PRMU, IBISML) |
| Conference Information | |
| Committee | PRMU / IBISML / IPSJ-CVIM |
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| Conference Date | 2023/3/2(2days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | Future University Hakodate |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | |
| Chair | Seiichi Uchida(Kyushu Univ.) / Masashi Sugiyama(Univ. of Tokyo) |
| Vice Chair | Takuya Funatomi(NAIST) / Mitsuru Anpai(Denso IT Lab.) / Toshihiro Kamishima(AIST) / Koji Tsuda(Univ. of Tokyo) |
| Secretary | Takuya Funatomi(CyberAgent) / Mitsuru Anpai(Univ. of Tokyo) / Toshihiro Kamishima(NTT) / Koji Tsuda(Hokkaido Univ.) |
| Assistant | Nakamasa Inoue(Tokyo Inst. of Tech.) / Yasutomo Kawanishi(Riken) / Yoshinobu Kawahara(Osaka Univ.) / Taiji Suzuki(Tokyo Inst. of Tech.) |
| Paper Information | |
| Registration To | Technical Committee on Pattern Recognition and Media Understanding / Technical Committee on Information-Based Induction Sciences and Machine Learning / Special Interest Group on Computer Vision and Image Media |
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| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | High Accuracy Alignment of 3D Point Clouds Obtained from Multiple View Point Images for Automatic Wire Harness Placement Environments |
| Sub Title (in English) | |
| Keyword(1) | automatic wire harness routing |
| Keyword(2) | point cloud alignment |
| Keyword(3) | TEASER |
| Keyword(4) | quaternions |
| 1st Author's Name | Erika Hata |
| 1st Author's Affiliation | Waseda University(Waseda Univ.) |
| 2nd Author's Name | Eiji Fukuzawa |
| 2nd Author's Affiliation | Waseda University Globsl Information and Telecommunication Institute(Waseda Univ.) |
| 3rd Author's Name | Jun Ohya |
| 3rd Author's Affiliation | Waseda University(Waseda Univ.) |
| Date | 2023-03-03 |
| Paper # | PRMU2022-103,IBISML2022-110 |
| Volume (vol) | vol.122 |
| Number (no) | PRMU-404,IBISML-405 |
| Page | pp.pp.232-237(PRMU), pp.232-237(IBISML), |
| #Pages | 6 |
| Date of Issue | 2023-02-23 (PRMU, IBISML) |