Browse > Article

Automatic Registration Method for Multiple 3D Range Data Sets  

김상훈 (중앙대학교 첨단영상대학원 영상공학과)
조청운 (중앙대학교 첨단영상대학원)
홍현기 (중앙대학교 첨단영상대학원 영상공학과)
Publication Information
Journal of KIISE:Software and Applications / v.30, no.12, 2003 , pp. 1239-1246 More about this Journal
Abstract
Registration is the process aligning the range data sets from different views in a common coordinate system. In order to achieve a complete 3D model, we need to refine the data sets after coarse registration. One of the most popular refinery techniques is the iterative closest point (ICP) algorithm, which starts with pre-estimated overlapping regions. This paper presents an improved ICP algorithm that can automatically register multiple 3D data sets from unknown viewpoints. The sensor projection that represents the mapping of the 3D data into its associated range image is used to determine the overlapping region of two range data sets. By combining ICP algorithm with the sensor projection constraint, we can make an automatic registration of multiple 3D sets without pre-procedures that are prone to errors and any mechanical positioning device or manual assistance. The experimental results showed better performance of the proposed method on a couple of 3D data sets than previous methods.
Keywords
3D registration; ICP algorithm; sensor projection constraint; cross-projection;
Citations & Related Records
연도 인용수 순위
  • Reference
1 Z. Zhang, 'Iterative point matching for registration of free-form curves and surfaces,' International Journal of Computer Vision, Vol.10, No.3, pp. 145-155, April 1992   DOI   ScienceOn
2 M. Levey, K. Puli, et. al., 'The digital Michelangelo project: 3D scanning of large statues,' Proc. ACM SIGGRAPH, Vol.27, pp. 131-144, 2000   DOI
3 B. K. P. Hom, 'Closed-form solution of absolute orientation using unit quaternions,' Journal of the Optical Society of America. A, Vol.4, No.4, pp. 629-642, April 1987   DOI
4 L. Nyland, D. McAllister, V. Popescu, C. McCue, and A. Lastra, 'The impact of dense range data on computer graphics,' Proc. IEEE Workshop on Multi-View Modeling and Analysis of Visual Scenes, pp. 3-10, 1999   DOI
5 P. J. Besl and N. D. Mckay, 'A method for registration of 3-D shapes,' IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol.14, No.2, pp. 239-256, Feb. 1992   DOI   ScienceOn
6 P. Neugebauer, 'Geometrical cloning of 3D objects via simultaneous registration of multiple range images,' Proc. International Conference on Shape Modeling and Applications, pp. 130-139, Mar. 1997   DOI
7 A. Johnson and M. Herbert, 'Using spin images for efficient object recognition in cluttered 3D scenes,' IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol.21 , No.5, pp, 433-49, May 1999   DOI   ScienceOn
8 R. Hartley and A. Zisserman, Multiple View Geometry in Computer Vision, Cambridge Univ. Press, 2000
9 D. F. Huber and M. Hebert, 'Fully automatic registration of multiple 3D data sets,' Proc. IEEE Computer Society Workshop on Computer Vision Beyond the Visible Spectrum, Dec. 2001