リアルタイム遮蔽物透視システムのための微小な位置ズレのあるRGB-D画像対の位置合わせ

抄録

This paper presents a method of real-time registration of RGB-D image pair. For remote operation of robots in dangerous situations such as disaster sites, providing robot operators with appropriate visual information is important. So far, we have proposed the “see-through system”, in which multiple images acquired from RGB-D sensors are integrated to present images of objects as if they are seen through obstacles. However, uncertainty of information of sensor positions and postures may cause small displacement between images, which leads to visually inconsistent output images. In this paper, corresponding points are efficiently detected by temporal and spatial tracking, and sensor positions and postures are robustly corrected by iteratively reweighted least squares (IRLS). The experimental results show the ability to significantly decrease image displacement in real time.