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3D registration is a computer vision technique of aligning multi-view range images with respect to a reference co-ordinate system. Aligning range images is an important and time-complex step in complete 3D reconstruction. In this paper, we propose a real-time 3D registration technique by employing the accelerated computing power of GPU (graphic processing unit). In the proposed technique, complete steps of a point-to-plane 3D registration technique are implemented using CUDA, an up-to-date GPU programming technique. Using a hand-held stereo-vision sensor, we apply the proposed technique to scan real objects. Registration of a pair of range images which size is 320Ã240 takes about 60 milliseconds in average. Results of 3D model reconstruction and processing time analysis are shown in experiments.
Applications of Computer Vision (WACV), 2009 Workshop on
Date of Conference: 7-8 Dec. 2009