Abstract
In this study, we focus on model reconstruction for 3D objects using range images. We propose a crude range image alignment method to overcome the initial estimation problem of the iterative closest point (ICP) algorithm using edge points of range images. Different from previous edge detection methods, we first obtain a function representation of the range image in spherical coordinates. This representation allows detecting smooth edges on the object surface easily by a zero crossing edge detector. We use ICP on these edges to align patches in a crude manner. Then, we apply ICP to the whole point set and obtain the final alignment. This dual operation is performed extremely fast compared to directly aligning the point sets. We also obtain the edges of the 3D object model while registering it. These edge points may be of use in 3D object recognition and classification.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Besl, P.J., McKay, D.N.: A method for registration of 3-d shapes. IEEE Trans. on PAMI 14, 239–256 (1992)
Zhang, Z.: Iterative point matching for registration of free-form curves and surfaces. International Journal of Computer Vision 13, 119–152 (1994)
Turk, G., Levoy, M.: Zippered polygon meshes from range images. In: Proceedings of SIGGRAPH, pp. 311–318 (1994)
Soucy, M., Laurendeau, D.: A general surface approach to the integration of a set of range views. IEEE Trans. on PAMI 17, 344–358 (1995)
Liu, Y.: Improving ICP with easy implementation for free-form surface matching. Pattern Recognition 37, 211–226 (2003)
Lee, B., Kim, C., Park, R.: An orientation reliability matrix for the iterative closest point algorithm. IEEE Trans. on PAMI 22, 1205–1208 (2000)
Jiang, X., Bunke, H.: Edge detection in range images based on scan line approximation. Computer Vision and Image Understanding 73, 183–199 (1999)
Sappa, A.D., Specht, A.R., Devy, M.: Range image registration by using an edge-based representation. In: Proc. Int. Symp. Intelligent Robotic Systems, pp. 167–176 (2001)
Specht, A.R., Sappa, A.D., Devy, M.: Edge registration versus triangular mesh registration, a comparative study. Signal Processing: Image Communication 20, 853–868 (2005)
Sonka, M., Hlavac, V., Boyle, R.: Image Processing, Analysis and Machine Vision, 2nd edn. PWS Publications (1999)
Marr, D., Hildreth, E.C.: Theory of edge detection. Proceedings of the Royal Society of London. Series B, Biological Sciences B-207, 187–217 (1980)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2006 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Sertel, O., Ünsalan, C. (2006). Range Image Registration with Edge Detection in Spherical Coordinates. In: Gunsel, B., Jain, A.K., Tekalp, A.M., Sankur, B. (eds) Multimedia Content Representation, Classification and Security. MRCS 2006. Lecture Notes in Computer Science, vol 4105. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11848035_98
Download citation
DOI: https://doi.org/10.1007/11848035_98
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-39392-4
Online ISBN: 978-3-540-39393-1
eBook Packages: Computer ScienceComputer Science (R0)