Toward Multiview Registration in Frame Space

To construct three dimensional models from range data, the simultaneous registration of multiple views must be accomplished. There exists a natural hierarchy between the local problem of aligning two views and the global problem of maintaining a consistent network of relative orientation and positions between views. Our paper addresses the global problem, where we compute orientation and position estimates from noisy interframe measurements. This is accomplished by building a graph of interframe relations, selecting a set of basis cycles which fully describe the graph, and distributing accumulated error about the basis cycles.