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Multiview Registration of 3D Scenes by Minimizing Error between Coordinate Frames

  • Gregory C. Sharp
  • Sang W. Lee
  • David K. Wehe
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 2351)

Abstract

This paper addresses the problem of large scale multiview registration of range images captured from unknown viewing directions. To reduce the computational burden, we decouple the local problem of pairwise registration on neighboring views from the global problem of distribution of accumulated errors. We define the global problem over the graph of neighboring views, and we show that this 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. This method for error distribution does not require point correspondences between views, and therefore can be used together with robot odometry or any method of pairwise registration. Experimental results demonstrate the effectiveness of this technique on range images of an indoor facility.

Keywords

Mobile Robot Span Tree Range Image Basis Cycle Partial Graph 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2002

Authors and Affiliations

  • Gregory C. Sharp
    • 1
  • Sang W. Lee
    • 2
  • David K. Wehe
    • 3
  1. 1.Department of Electrical Engineering and Computer ScienceUniversity of MichiganAnn Arbor
  2. 2.Department of Media TechnologySogang UniversitySeoulKorea
  3. 3.Department of Nuclear Engineering and Radiological SciencesUniversity of MichiganAnn Arbor

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