Abstract
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 language | English |
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Article number | 680904 |
Pages (from-to) | 3115-3120 |
Number of pages | 6 |
Journal | Proceedings - IEEE International Conference on Robotics and Automation |
Volume | 4_1998 |
DOIs | |
State | Published - 1998 |
Event | 15th IEEE International Conference on Robotics and Automation, ICRA 1998 - Leuven, Belgium Duration: May 16 1998 → May 20 1998 |
Bibliographical note
Publisher Copyright:© 1998 IEEE.
ASJC Scopus subject areas
- Software
- Artificial Intelligence
- Electrical and Electronic Engineering
- Control and Systems Engineering