Multiview registration of 3D scenes by minimizing error between coordinate frames

This paper addresses the problem of large-scale multiview registration of range images captured from unknown viewing directions. To reduce the computational burden, we separate the local problem of pairwise registration on neighboring views from the global problem of distribution of accumulated erro...

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Bibliographic Details
Published in:IEEE transactions on pattern analysis and machine intelligence 2004-08, Vol.26 (8), p.1037-1050
Main Authors: Sharp, G.C., Lee, S.W., Wehe, D.K.
Format: Article
Language:English
Subjects:
Algorithms
Artificial Intelligence
Computer Graphics
Distributed computing
global registration
graph analysis
Image analysis
Image Enhancement - methods
Image Interpretation, Computer-Assisted - methods
Imaging, Three-Dimensional - methods
Information Storage and Retrieval - methods
Iterative algorithms
Iterative methods
Large-scale systems
Layout
Maximum likelihood estimation
multiple views
Numerical Analysis, Computer-Assisted
Pattern Recognition, Automated - methods
range images
Registers
Registration
Reproducibility of Results
Robot kinematics
Sensitivity and Specificity
Shape
Signal Processing, Computer-Assisted
Subtraction Technique
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Summary:This paper addresses the problem of large-scale multiview registration of range images captured from unknown viewing directions. To reduce the computational burden, we separate the local problem of pairwise registration on neighboring views from the global problem of distribution of accumulated errors. We define the global problem as an optimization over the graph of neighboring views, and we show how the graph can be decomposed into a set of cycles such that the optimal transformation parameters for each cycle can be solved in closed form. We then describe an iterative procedure that can be used to integrate the solutions for the set of cycles across the graph of views. This method for error distribution does not require point correspondences between views, and can be used to integrate any method of pairwise registration or robot odometry.
ISSN:0162-8828
1939-3539
DOI:10.1109/TPAMI.2004.49