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http://dx.doi.org/10.5762/KAIS.2020.21.6.28

Depthmap Generation with Registration of LIDAR and Color Images with Different Field-of-View  

Choi, Jaehoon (Department of Computer Engineering, Keimyung University)
Lee, Deokwoo (Department of Computer Engineering, Keimyung University)
Publication Information
Journal of the Korea Academia-Industrial cooperation Society / v.21, no.6, 2020 , pp. 28-34 More about this Journal
Abstract
This paper proposes an approach to the fusion of two heterogeneous sensors with two different fields-of-view (FOV): LIDAR and an RGB camera. Registration between data captured by LIDAR and an RGB camera provided the fusion results. Registration was completed once a depthmap corresponding to a 2-dimensional RGB image was generated. For this fusion, RPLIDAR-A3 (manufactured by Slamtec) and a general digital camera were used to acquire depth and image data, respectively. LIDAR sensor provided distance information between the sensor and objects in a scene nearby the sensor, and an RGB camera provided a 2-dimensional image with color information. Fusion of 2D image and depth information enabled us to achieve better performance with applications of object detection and tracking. For instance, automatic driver assistance systems, robotics or other systems that require visual information processing might find the work in this paper useful. Since the LIDAR only provides depth value, processing and generation of a depthmap that corresponds to an RGB image is recommended. To validate the proposed approach, experimental results are provided.
Keywords
LIDAR; Camera; Fusion; Registration; Depth; Depthmap;
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