Registration report

The effect of luminiferous aether on ICP registration in a constrained tabletop environment
David Rix
2015

Abstract

We develop a wrapper for libpointmatcher, a C++ registration library, and use this wrapper to expose registration functionality to software developed in C# in the Unity game engine. Users of a tabletop registration system developed with this module and using a Kinect for Xbox One (K4X1) depth sensor report registration errors occurring in the late afternoon. We attempt to replicate this issue in the morning twilight period, but fail to find any connection between error and ambient visible light, or ambient infrared light. We find that ambient infrared light, as perceived by the depth sensor, remains constant even while visible light increases. We recommend a review of the literature on infrared light, and suggest that additional sensor(s) may improve reliability for a tabletop system.

Other code

  • libpointmatcher-fork.zip - a fork of libpointmatcher as required to build a DLL, includes changes made for Windows compilation and SWIG wrapper template
  • LibPmSharp-generated.zip - the C# wrapper code generated from the SWIG template
  • PrimitiveVisualizationTool-project.zip (125 MiB) - Unity project for visualisation tool (displays 3D data as pointclouds)

    • References

    1. Josep Aulinas, Yvan R. Petillot, Joaquim Salvi, and Xavier Lladó. 2008. The SLAM problem: a survey. CCIA, 363-371.
    2. Kai Berger, Stephan Meister, Rahul Nair, and Daniel Kondermann. 2013. A state of the art report on Kinect sensor setups in computer vision. Time-of-Flight and Depth Imaging. Sensors, Algorithms, and Applications (2013), 257-272.
    3. Paul J. Besl and Neil D. McKay. 1992. Method for registration of 3-D shapes. IEEE Trans. Pattern Analysis Mach. Intell. 14, 2 (February 1992), 239-256.
    4. Thomas Butkiewicz. 2014. Low-cost coastal mapping using Kinect v2 time-of-flight cameras. Oceans – St. John's (14-19 September 2014), 1-9.
    5. Yung Chen and Gérard Medioni. 1991. Object modeling by registration of multiple range images. Proceedings of the IEEE International Conference on Robotics and Automation 3, 9-11 (April 1991), 2724-2729.
    6. Dmitry Chetverikov, Dmitry Svirko, Dmitry Stepanov, and Pavel Krsek. 2002. The trimmed iterative closest point algorithm. 16th International Conference on Pattern Recognition (2002), 3, 545-548.
    7. Sacha Goedegebure, A. Goralczyk, E. Valenza, N. Vegdahl, W. Reynish, B. V. Lommel, C. Barton, J. Morgenstern, and T. Roosendaal. 2008. Big Buck Bunny. Retrieved November 1 2015 from https://peach.blender.org
    8. Albert A. Michelson and Edward W. Morley. 1887. On the Relative Motion of the Earth and of the Luminiferous Ether. Sidereal Messenger 6 (1887), 306-310.
    9. François Pomerleau, Stéphane Magnenat, Francis Colas, Ming Liu, and Roland Siegwart. 2011. Tracking a depth camera: Parameter exploration for fast ICP. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011), 3824-3829.
    10. François Pomerleau, Francis Colas, Roland Siegwart, and Stéphane Magnenat. 2013. Comparing ICP variants on real-world data sets. Autonomous Robots 34, 3 (2013), 133-148.
    11. Katherine Rix. 2015. Viability of a tangible tabletop for industry storyboarding. Honours report, University of Cape Town. 13 pages. November 2015. Retrieved November 1 2015 from http://people.cs.uct.ac.za/~previz2015/tangible/
    12. Joaquim Salvi, Carles Matabosch, David Fofi, and Josep Forest. 2007. A review of recent range image registration methods with accuracy evaluation. Image and Vision computing 25, 5 (2007), 578-596.
    13. Orit Shaer and Eva Hornecker. 2010. Tangible user interfaces: past, present, and future directions. Foundations and Trends in Human-Computer Interaction 3, 1-2 (2010), 1-137.
    14. Gregory C. Sharp, Sang W. Lee, and David K. Wehe. 2002. ICP registration using invariant features. IEEE Transactions on Pattern Analysis and Machine Intelligence 24, 1 (2002), 90-102.