R3P: real-time RGB-D registration pipeline

Hani Javan Hemmat, Egor Bondarev, Peter H.N. de With

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review


Applications based on colored 3-D data sequences suffer from lack of efficient algorithms for transformation estimation and key points extraction to perform accurate registration and sensor localization either in the 2-D or 3-D domain. Therefore, we propose a real-time RGB-D registration pipeline, named R3P, presented in processing layers. In this paper, we present an evaluation of several algorithm combinations for each layer, to optimize the registration and sensor localization for specific applications. The resulting dynamic reconfigurability of R3P makes it suitable as a front-end system for any SLAM reconstruction algorithm. Evaluation results on several public datasets reveal that R3P delivers real-time registration with 59 fps and high accuracy with the relative pose error (for a time span of 40 frames) for rotation and translation of 0.5� and 8 mm, respectively. All the heterogeneous dataset and implementations are publicly available under an open-source license [21].

Original languageEnglish
Title of host publicationAdvanced Concepts for Intelligent Vision Systems
Subtitle of host publication17th International Conference, ACIVS 2016, Lecce, Italy, October 24-27, 2016, Proceedings
EditorsJ. Blanc-Talon, C. Distante, W. Philips, D. Popescu, P. Scheunders
Place of PublicationDordrecht
Number of pages13
ISBN (Electronic)978-3-319-48680-2
ISBN (Print)978-3-319-48679-6
Publication statusPublished - 1 Jan 2016
Event17th International Conference on Advanced Concepts for Intelligent Vision Systems (ACIVS 2016) - Lecce, Italy
Duration: 24 Oct 201627 Oct 2016
Conference number: 17

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume10016 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349


Conference17th International Conference on Advanced Concepts for Intelligent Vision Systems (ACIVS 2016)
Abbreviated titleACIVS 2016


  • Heterogeneous 3-D reconstruction
  • Real-time
  • RGB-D registration
  • Simultaneously localization and mapping (SLAM)


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