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Registration of multiple overlapping range images: scenes without distinctive features

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3 Author(s)
Kamgar-Parsi, B. ; Center for Autom. Res., Maryland Univ., College Park, MD, USA ; Jones, J.L. ; Rosenfeld, Azriel

A scheme is developed to register range images in an environment where distinctive features are scarce. Another issue addressed here is conflicting situations that may arise from pair-wise registration of multiple overlapping range images whether or not they contain distinctive features. There can be two causes for this: (a) error in individual registrations or (b) compression or bending in range images. The authors develop a scheme for resolving such conflicts for the case where range images share a common reference surface, i.e. when the transformation matrix between two overlapping images involves only three components: two translations and one rotation. The authors implemented this scheme to map the floor of the ocean, where the range data is obtained by a multibeam echo-sounder system installed aboard a sailing ship producing multiple overlapping range images. The system developed is the first automated system for correctly registered mapping of the ocean floor; it is efficient and robust

Published in:

Pattern Analysis and Machine Intelligence, IEEE Transactions on  (Volume:13 ,  Issue: 9 )

Date of Publication:

Sep 1991

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