Accurate Camera Pose Estimation for KinectFusion Based on Line Segment Matching by LEHF

@article{Nakayama2014AccurateCP,
  title={Accurate Camera Pose Estimation for KinectFusion Based on Line Segment Matching by LEHF},
  author={Yusuke Nakayama and Toshihiro Honda and Hideo Saito and Masayoshi Shimizu and Nobuyasu Yamaguchi},
  journal={2014 22nd International Conference on Pattern Recognition},
  year={2014},
  pages={2149-2154}
}
Kinect Fusion is able to build a 3D reconstruction in real time and provide a 3D model. Kinect Fusion uses Iterative Closest Point (ICP) algorithm for point cloud alignment from the each camera frame and estimates each camera pose. However, ICP algorithm has its limits and the camera poses lack in accuracy. We propose an alignment method which is not only based on point cloud but also line segments. This method significantly improve the camera pose accuracy obtained from Kinect Fusion and… CONTINUE READING