Registration of range images with different scanning resolutions

The paper presents a novel method of registering two range images that are taken at different 3D viewpoints. Distinct from classic methods, it allows an accurate estimation of a scaling parameter of the images in addition to the general motion parameters. It is made possible owing to the following efforts: 1) extended signature images (ESIs) are utilized to establish precise correspondence between image objects even if they are different in scale; 2) fine image alignment is achieved by incorporating scale estimates into a modified iterative closest point (ICP) algorithm. Results of experiments demonstrate the method is of practical use even for images acquired by real digitizers.