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Range image registration using multiresolution decomposition

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4 Author(s)
Uto, Toshiyuki ; Dept. of Comput. Sci., Ehime Univ., Japan ; Okuda, M. ; Ikehara, M. ; Takahashi, S.

This paper describes fast registration approaches of range images based on their multiresolution representations. In the iterative closest point algorithm, which is a popular technique to register sets of 3D points, the computational complexity depends largely on the number of points representing range image. Therefore, we accelerate a range image registration by applying shape-adaptive discrete wavelet transform to range images and efficiently reducing the number of data points. In addition, we present a fast and accurate registration method, which finds the closest point to a given point hierarchically in consideration of the wavelet decomposition. Finally, we apply these techniques to the registration of actual range images and show the validity of the proposed approaches.

Published in:

Multimedia Signal Processing, 2004 IEEE 6th Workshop on

Date of Conference:

29 Sept.-1 Oct. 2004