A Method for the Registration of Attributed Range Images

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TypeArticle
ConferenceProceedings of the Third International Conference on 3D Digital Imaging and Modeling (3DIM), May 28 - June 1, 2001., Québec City, Québec, Canada
AbstractRegistration of range images requires the identification of common portions of surfaces between which a distance minimization is performed. This paper proposes a framework for use of dense attributes of range image elements as a matching constraint in the registration. These attributes are chosen to be invariant to rigid transformations, so that their value is similar in different views of the same surface portion. Attributes can be derived from the geometry information in the range image, such as surface curvature, or be obtained from associated intensity measurements. The method is based on the Iterative Closest Compatible Point algorithm augmented with a random sampling scheme that uses the distribution of attributes as a guide for point selection. Distance minimization is performed only between pairs of points considered compatible on the basis of their attributes. The performance of the method is illustrated on a rotationally symmetric object with color patterns.
Publication date
LanguageEnglish
AffiliationNRC Institute for Information Technology; National Research Council Canada
Peer reviewedNo
NRC number44193
NPARC number8914013
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Record identifier296ad158-604d-49e0-a6be-64b567806783
Record created2009-04-22
Record modified2016-05-09
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