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Registration of multiple range views for automatic 3-D model building

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4 Author(s)
Gagnon, H. ; Dept. of Electr. Eng., Laval Univ., Que., Canada ; Soucy, M. ; Bergevin, R. ; Laurendeau, D.

Building integrated models of existing 3-D objects is a key requirement for both reverse engineering and object recognition systems. An automatic 3-D model builder goes through three main steps: i) surface sampling from many views, ii) registration of the sampled views, and iii) integration of the registered views. The accuracy obtained depends on the acquisition and registration errors. The latter is critical since a misalignment of the range views causes their noise distributions to be centered around different means, which makes it difficult to reduce the effect of the acquisition error by simple averaging. In this paper, we propose a general algorithm that reduces significantly the level of the registration errors between all pairs in a set of range views. This algorithm refines initial estimates of the transformation matrices obtained from the calibrated acquisition setup. It considers the network of views as a whole and minimizes the registration errors of all views simultaneously. This leads to a well-balanced network of views in which the registration errors are equally distributed. Experimental results show an improvement of both the calibrated registrations and integrated models

Published in:

Computer Vision and Pattern Recognition, 1994. Proceedings CVPR '94., 1994 IEEE Computer Society Conference on

Date of Conference:

21-23 Jun 1994