Toward multiview registration in frame space

To construct three dimensional models from range data, the simultaneous registration of multiple views must be accomplished. There exists a natural hierarchy between the local problem of aligning two views and the global problem of maintaining a consistent network of relative orientation and positions between views. Our paper addresses the global problem, where we compute orientation and position estimates from noisy inter-frame measurements. This is accomplished by building a graph of infer-frame relations, selecting a set of basis cycles which fully describe the graph, and distributing accumulated error about the basis cycles.