Registering, integrating, and building cad models from range data

Ruigang Yang, Peter K. Allen

Research output: Contribution to journalConference articlepeer-review

32 Scopus citations


We introduce two methods for the registration of range images when a prior estimate of the transformation between views is not available and the overlap between images is relatively small. The methods are an extension to the work of Gueziec and Ayache (1994) and Turk and Levoy (1994) and consists of 2 stages. First, we find the initial estimated transformation by extracting and matching 3D space curves from different scans of the same object. If no salient features are available on the object we use fiducial marks to find the initial transformation. This allows us to always find a satisfactory and even highly accurate transformation independent of the geometry of the object. Second, we apply a modified iterative closest points algorithm (ICP) to improve the accuracy of registration. We define a weighted distance function based on surface curvature which can reduce the number of iterations and requires a less accurate initial estimate of the transformation.

Original languageEnglish
Article number680904
Pages (from-to)3115-3120
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
StatePublished - 1998
Event15th IEEE International Conference on Robotics and Automation, ICRA 1998 - Leuven, Belgium
Duration: May 16 1998May 20 1998

Bibliographical note

Funding Information:
‘This work was supported in part by an ONR/DARPA MURI award ONR NO00 14-95-1-0601, DARPA AASERT awards DAAH04-93-G-0245 and DAAH04-95-1-0492, and NSF grants CDA-96-25374 and IRI-95-11877.

Publisher Copyright:
© 1998 IEEE.

ASJC Scopus subject areas

  • Software
  • Artificial Intelligence
  • Electrical and Electronic Engineering
  • Control and Systems Engineering


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