Registration of multiple overlapping range images: scenes withoutdistinctive features
Kamgar-Parsi, B.
Jones, J.L.
Rosenfeld, A.
Center for Autom. Res., Maryland Univ., College Park, MD;
Abstract
A scheme is developed to match range images in an environment
where distinctive features are scarce. When each image overlaps with
several other images, the match must also be performed at the global
level. This is particularly challenging, because of the possibility of
bending and compression in range images. The primitives used for local
matching contours of constant range which are extracted from data are
represented by means of a modified chain-code method. All best matches
of pairs of contours are considered tentative until their geometrical
implications are evaluated and a consistent majority has emerged. To do
global matching a cost function is constructed and minimized. Terms
contributing to the cost include violation of local matches as well as
compression and bending in range images. The present global scheme is
valid for any set of multiple overlapping range images, whether they
contain distinctive features or not. This scheme has been used to map
the floor of the ocean, where the range data are obtained by a multibeam
echo-sounder system
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