Real time registration of rgb-d data using local visual features and 3d-ndt registration

Abstract — Recent increased popularity of RGB-D capable sensors in robotics has resulted in a surge of related RGB-D registration methods. This paper presents several RGB-D registration algorithms based on combinations between local visual feature and geometric registration. Fast and accurate transformation refinement is obtained by using a recently proposed geometric registration algorithm, based on the Three-Dimensional Normal Distributions Transform (3D-NDT). Re-sults obtained on standard data sets have demonstrated mean translational errors on the order of 1 cm and rotational errors bellow 1 degree, at frame processing rates of about 15 Hz. I