Simultaneous registration of multiple range views for use in reverse engineering

When reverse engineering a CAD model, it is necessary to integrate information from several views of an object into a common reference frame. Given a rough initial alignment, further pose refinement here uses an improved version of the interactive closes point algorithm. Incremental adjustments are computed simultaneously for all data sets, resulting in a more globally optimal set of transformations. Also, thresholds for removing outlier correspondences are not needed, as the merging data sets are considered as a whole. Motion updates are computed through force-based optimization, using implied springs between data sets. Experiments indicate that even for very rough initial positionings, registration accuracy approaches 25% of the interpoint sampling resolution of the images.