Invited Paper Multiple View 3d Registration: a Review and a New Technique
نویسندگان
چکیده
The contribution of the paper is twofold: Firstly, a review of the point set registration literature is given, and secondly a novel weighted least squares formulation of the point set registration problem is presented. Numerical registration results, produced by registering 3D point correspondence data sets using the weighted least squares approach show improved accuracy over those produced by an unweighted least squares formulation for cases where the point measurements are heteroscedastically and anisotropically distributed .
منابع مشابه
A Novel Subsampling Method for 3D Multimodality Medical Image Registration Based on Mutual Information
Mutual information (MI) is a widely used similarity metric for multimodality image registration. However, it involves an extremely high computational time especially when it is applied to volume images. Moreover, its robustness is affected by existence of local maxima. The multi-resolution pyramid approaches have been proposed to speed up the registration process and increase the accuracy of th...
متن کاملA New Technique for Registration and Integration of Partial 3D Models
A new technique is introduced for registration and integration of multiple partial 3D models of an object. The technique exploits the epipolar constraint for the multiple-view geometry. Partial 3D shapes of an object from multiple viewing directions are obtained using a digital vision system based on parallel-axis stereo. The vision system is calibrated to obtain an initial tranformation matrix...
متن کاملA Multiple View 3 D Registration Algorithm with Statistical Error Modeling ∗
SUMMARY The contribution of the paper is twofold: Firstly, a review of the point set registration literature is given, and secondly, a novel covariance weighted least squares formulation of the multiple view point set registration problem is presented. Point data for surface registration is commonly obtained by non-contact, 3D surface sensors such as scanning laser range finders or structured l...
متن کاملMultiple View 3d Registration Using Statistical Error Models
In this paper we describe an iterative algorithm for the simultaneous registration of multiple corresponding point sets. Three dimensional Gaussian error models are assigned individually to points, permitting the model-ing of non-stationary measurement noise processes. These models are used when estimating the registration parameters. In addition, the error covariance matrix of the registration...
متن کامل3D reconstruction of indoor environments
This paper presents a new 3D scene analysis system that automatically reconstructs the 3D model of real-world scenes from multiple range images acquired by a laser range finder on board of a mobile robot. The reconstruction is achieved through an integrated procedure including range data acquisition, geometrical feature extraction, planning the next view, registration and integration of multipl...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
دوره شماره
صفحات -
تاریخ انتشار 1999