A Survey of 3D Rigid Registration Methods for RGB-D Cameras

Abstract

Registration of multiple 3D data sets is a fundamental problem in many areas. Many researches and applications are using low-cost RGB-D sensors for 3D data acquisition. In general terms, the registration problem tries to find a transformation between two coordinate systems that better aligns the point sets. In order to review and describe the state-of-the-art of the rigid registration approaches, the authors decided to classify methods in coarse and fine. Due to the high variety of methods, they have made a study of the registration techniques, which could use RGB-D sensors in static scenarios. This chapter covers most of the expected aspects to consider when a registration technique has to be used with RGB-D sensors. Moreover, in order to establish a taxonomy of the different methods, the authors have classified those using different characteristics. As a result, they present a classification that aims to be a guide to help the researchers or practitioners to select a method based on the requirements of a specific registration problem.