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Optimal registration of object views using range data

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3 Author(s)
Dorai, C. ; IBM Thomas J. Watson Res. Center, Yorktown Heights, NY, USA ; Weng, J. ; Jain, A.K.

This paper deals with robust registration of object views in the presence of uncertainties and noise in depth data. Errors in registration of multiple views of a 3D object severely affect view integration during automatic construction of object models. We derive a minimum variance estimator (MVE) for computing the view transformation parameters accurately from range data of two views of a 3D object. The results of our experiments show that view transformation estimates obtained using MVE are significantly more accurate than those computed with an unweighted error criterion for registration

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Pattern Analysis and Machine Intelligence, IEEE Transactions on  (Volume:19 ,  Issue: 10 )