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Evaluation of 3D Feature Descriptors for Multi-modal Data Registration

Kim, H and Hilton, A (2013) Evaluation of 3D Feature Descriptors for Multi-modal Data Registration In: 3DV, 2013-06-29 - 2013-06-30, Seattle, USA.

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We propose a framework for 2D/3D multi-modal data registration and evaluate 3D feature descriptors for registration of 3D datasets from different sources. 3D datasets of outdoor environments can be acquired using a variety of active and passive sensor technologies including laser scanning and video cameras. Registration of these datasets into a common coordinate frame is required for subsequent modelling and visualisation. 2D images are converted into 3D structure by stereo or multi-view reconstruction techniques and registered to a unified 3D domain with other datasets in a 3D world. Multi-modal datasets have different density, noise, and types of errors in geometry. This paper provides a performance benchmark for existing 3D feature descriptors across multi-modal datasets. Performance is evaluated for the registration of datasets obtained from high-resolution laser scanning with reconstructions obtained from images and video. This analysis highlights the limitations of existing 3D feature detectors and descriptors which need to be addressed for robust multi-modal data registration. We analyse and discuss the performance of existing methods in registering various types of datasets then identify future directions required to achieve robust multi-modal 3D data registration.

Item Type: Conference or Workshop Item (Conference Paper)
Divisions : Faculty of Engineering and Physical Sciences > Electronic Engineering > Centre for Vision Speech and Signal Processing
Authors :
Kim, H
Hilton, A
Date : 29 June 2013
Additional Information : © 2013 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Depositing User : Symplectic Elements
Date Deposited : 07 Aug 2013 14:49
Last Modified : 31 Oct 2017 15:07

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