Stitching of depth and color images from multiple RGB-D sensors for extended field of view. (13th June 2019)

• Record Type: Journal Article
• Authors: Ding, Changquan; Liu, Hang; Li, Hengyu
• Is Part Of: International journal of advanced robotic systems. Volume 16:Number 3(2019:May/Jun.)
• Publication Date: 2019-06-13
• Subjects: Depth and color panorama -- RGB-D camera calibratibon -- image stitching -- improved field of view -- 3D vision -- omnidirectional vision; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.1177/1729881419851665
• Languages: English
• ISSNs: 1729-8806

Abstract

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.