Stitching of depth and color images from multiple RGB-D sensors for extended field of view
Existing commodity RGB-D sensors have a limited field of view compared with a nearly 360° horizontal field of view of Lidar. This article presents a method to extend the field of view by stitching depth and color images from multiple RGB-D sensors to form a depth and a color panorama. Firstly, a set...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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SAGE Publishing
2019-06-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.1177/1729881419851665 |
| _version_ | 1818302203802157056 |
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| author | Changquan Ding Hang Liu Hengyu Li |
| author_facet | Changquan Ding Hang Liu Hengyu Li |
| author_sort | Changquan Ding |
| collection | DOAJ |
| description | Existing commodity RGB-D sensors have a limited field of view compared with a nearly 360° horizontal field of view of Lidar. This article presents a method to extend the field of view by stitching depth and color images from multiple RGB-D sensors to form a depth and a color panorama. Firstly, a set of 3-D matched key points are constructed based on 2-D matched key points and corresponding depth values to estimate transformation matrices between multiple RGB-D sensors. Then, depth and color images are projected to the 3-D space using estimated transformation matrices to construct textured 3-D points. Finally, projecting textured 3-D points to a compositing surface can create the depth panorama and the color panorama. Experiments validated the accuracy and efficiency of the proposed method. |
| first_indexed | 2024-12-13T05:35:11Z |
| format | Article |
| id | doaj.art-1769f2e6f2d94b7dabdf735987cb5de7 |
| institution | Directory Open Access Journal |
| issn | 1729-8814 |
| language | English |
| last_indexed | 2024-12-13T05:35:11Z |
| publishDate | 2019-06-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | International Journal of Advanced Robotic Systems |
| spelling | doaj.art-1769f2e6f2d94b7dabdf735987cb5de72022-12-21T23:57:57ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142019-06-011610.1177/1729881419851665Stitching of depth and color images from multiple RGB-D sensors for extended field of viewChangquan DingHang LiuHengyu LiExisting commodity RGB-D sensors have a limited field of view compared with a nearly 360° horizontal field of view of Lidar. This article presents a method to extend the field of view by stitching depth and color images from multiple RGB-D sensors to form a depth and a color panorama. Firstly, a set of 3-D matched key points are constructed based on 2-D matched key points and corresponding depth values to estimate transformation matrices between multiple RGB-D sensors. Then, depth and color images are projected to the 3-D space using estimated transformation matrices to construct textured 3-D points. Finally, projecting textured 3-D points to a compositing surface can create the depth panorama and the color panorama. Experiments validated the accuracy and efficiency of the proposed method.https://doi.org/10.1177/1729881419851665 |
| spellingShingle | Changquan Ding Hang Liu Hengyu Li Stitching of depth and color images from multiple RGB-D sensors for extended field of view International Journal of Advanced Robotic Systems |
| title | Stitching of depth and color images from multiple RGB-D sensors for extended field of view |
| title_full | Stitching of depth and color images from multiple RGB-D sensors for extended field of view |
| title_fullStr | Stitching of depth and color images from multiple RGB-D sensors for extended field of view |
| title_full_unstemmed | Stitching of depth and color images from multiple RGB-D sensors for extended field of view |
| title_short | Stitching of depth and color images from multiple RGB-D sensors for extended field of view |
| title_sort | stitching of depth and color images from multiple rgb d sensors for extended field of view |
| url | https://doi.org/10.1177/1729881419851665 |
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