Aligning 3D Local Data of Leapfrog Locations along Elongated Structures

This paper presents a registration approach to tackle the problem of rigid alignment of local data acquired from leapfrog locations along elongated structures such as pipelines or other types of pipes. As cylindrical geometry does not have enough constraints for alignment, classical registration algorithms fail to converge since a sliding effect can occur between the views to be aligned. We propose to decompose the transformation matrix into its rotational and translational components and optimize at first the rotation and then the translation parameters. Experimental results and comparison with other methods show the validity of the proposed framework.