Spatial Surface Reconstruction for Complex Environment Using Color-Depth Sensors

Feng-Li Lian; Yung-Cheng Huang

doi:10.52731/ijscai.v1.i2.89

Feng-Li Lian National Taiwan University http://orcid.org/0000-0002-1260-4894
Yung-Cheng Huang National Taiwan University

DOI: https://doi.org/10.52731/ijscai.v1.i2.89

Keywords: Point cloud, red-green-blue-depth (RGB-D) sensor, rigid transformation, structural entropy, three-dimensional (3D) reconstruction

Abstract

In this paper, the structure-entropy-based features are used to describe the energy of the complex environment and then the entropy energy is further used to extract the region of the spatial structural change. Moreover, by finding the maximum entropy energy of the overlapping area, the relative pose between two consecutive frames can be estimated. In the final step, the iterative closest point (ICP) is utilized to determine the rigid transformation matrix for the remaining region. Extensive experimental results show that the proposed method generates more accurate result than that by using the traditional ICP algorithm.

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