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Online Registration of Multi-view Range Images using Geometric and Photometric Feature Tracking

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2 Author(s)
Soon-Yong Park ; Kyungpook Nat. Univ., Daegu ; Jaewon Baek

An on-line 3D registration system is introduced to reconstruct a 3D model using a hand-held stereo camera. Multi-view range images, which are obtained from the hand-held stereo camera, are registered into a reference coordinate system simultaneously. For the coarse registration of a range image, we use the transformation of its previous frame and the centroid of foreground range images. After refining the coarse registration using a geometric feature matching technique, we use a modified KLT (Kanade-Lucas-Tomasi) tracker to match photometric features to enhance registration accuracy. We modify the KLT tracker to facilitate searching of correspondence from the results of the geometric registration. If a range image fails to register, we adjust the orientation of the camera while viewing a graphical user interaction system. After enough range images are registered, they are integrated into a 3D model in offline. Experimental results show that the proposed method can be used to reconstruct 3D models fast and accurately.

Published in:

3-D Digital Imaging and Modeling, 2007. 3DIM '07. Sixth International Conference on

Date of Conference:

21-23 Aug. 2007